Satellite-ground clock synchronization method and device and storage medium

Abstract

The invention provides a satellite-ground clock synchronization method and device and a storage medium, and relates to the technical field of communication, and the method comprises the steps: receiving a first measurement signal transmitted by a ground station, and transmitting a first feedback signal to the ground station; determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal; determining the clock skew of the first satellite based on the transmission delay between the ground station and the first satellite; and adjusting the clock of the first satellite based on the clock skew of the first satellite, thereby realizing satellite-ground clock synchronization.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a satellite-ground clock synchronization method, apparatus, and storage medium. Background Art

[0002] Low Earth Orbit (LEO) satellite Internet is a newly emerging communication system in recent years. By launching a large number of communication satellites in the low Earth orbit, a communication interconnection network covering the globe without blind spots is realized. Compared with traditional satellite communication, the number of LEO satellites is huge, supporting a large number of user accesses, and can provide Internet services in places where traditional communication cannot cover, such as uninhabited areas and the sea.

[0003] Satellite-ground communication requires time synchronization. However, since on-board timing devices generally operate independently and do not have the conditions for ground time correction, satellite clocks often have deviations. Summary of the Invention

[0004] This application provides a satellite-ground clock synchronization method, apparatus, and storage medium, which realizes the clock synchronization between satellites and the ground.

[0005] In a first aspect, this application provides a satellite-ground clock synchronization method, which is applied to a first satellite and includes:

[0006] Receiving a first measurement signal sent by a ground station and sending a first feedback signal to the ground station;

[0007] Based on the time information of the first measurement signal and the time information of the first feedback signal, determining the transmission delay between the ground station and the first satellite;

[0008] Based on the transmission delay between the ground station and the first satellite, determining the clock deviation of the first satellite;

[0009] Based on the clock deviation of the first satellite, adjusting the clock of the first satellite.

[0010] In one implementation, the determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal includes:

[0011] Based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal, determining the transmission delay between the ground station and the first satellite.

[0012] In one implementation, receiving the first measurement signal sent by the ground station and sending a first feedback signal to the ground station includes:

[0013] Receiving the first measurement signal sent by the ground station and recording the second time information when the first satellite receives the first measurement signal;

[0014] Sending the first feedback signal to the ground station and recording the third time information when the satellite sends the first feedback signal;

[0015] The method further includes:

[0016] Receiving the first time information when the ground station sends the first measurement signal and the fourth time information when the ground station receives the first feedback signal sent by the ground station.

[0017] In one implementation, determining the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite includes:

[0018] Based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, and the transmission delay between the ground station and the first satellite, determining the clock deviation of the first satellite;

[0019] Or,

[0020] Based on the third time information when the first satellite sends the first feedback signal, the fourth time information when the ground station receives the first feedback signal, and the transmission delay between the ground station and the first satellite, determining the clock deviation of the first satellite.

[0021] In one implementation, adjusting the clock of the first satellite based on the clock deviation of the first satellite includes:

[0022] Based on the clock deviation of the first satellite, adjusting the clock frequency of the first satellite or adjusting the time value of the first satellite.

[0023] In one implementation, it further includes:

[0024] Sending a second measurement signal to the second satellite and receiving a second feedback signal sent by the second satellite. The time information of the second measurement signal and the time information of the second feedback signal are used to determine the transmission delay between the first satellite and the second satellite, and the transmission delay between the first satellite and the second satellite is used to determine the clock deviation of the second satellite.

[0025] In one implementation, receiving the first measurement signal sent by the ground station and sending a first feedback signal to the ground station includes:

[0026] Receiving the first measurement signal sent by the ground station through a relay satellite and sending the first feedback signal to the ground station through the relay satellite;

[0027] Determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal includes:

[0028] Based on the first time information when the ground station sends the first measurement signal, the fifth time information when the relay satellite receives the first measurement signal, the sixth time information when the relay satellite sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, the seventh time information when the relay satellite receives the first feedback signal, the eighth time information when the relay satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal, determining the transmission delay between the ground station and the first satellite.

[0029] In one implementation, the time information of the first measurement signal and the time information of the first feedback signal are recorded by the physical layer hardware of the ground station and the first satellite.

[0030] In one implementation, the time information is Coordinated Universal Time or a frame number.

[0031] In one implementation, the first measurement signal includes the identifier of the first satellite.

[0032] In a second aspect, the present application provides a satellite-ground clock synchronization method applied to a ground station, including:

[0033] Sending a first measurement signal to a first satellite and receiving a first feedback signal sent by the first satellite;

[0034] Determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal;

[0035] Determining the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite;

[0036] Determining the number of calibration times based on the clock deviation of the first satellite, and repeatedly sending the first measurement signal to the first satellite based on the number of calibration times.

[0037] In one implementation, the magnitude of the clock deviation of the first satellite is positively correlated with the magnitude of the number of calibration times.

[0038] In one implementation, determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal includes:

[0039] Determining the transmission delay between the ground station and the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal.

[0040] In one implementation, sending a first measurement signal to the first satellite and receiving the first feedback signal sent by the first satellite includes:

[0041] Sending the first measurement signal to the first satellite and recording the first time information when the ground station sends the first measurement signal;

[0042] Receiving the first feedback signal sent by the first satellite and recording the fourth time information when the ground station receives the first feedback signal;

[0043] The method further includes:

[0044] Receiving the second time information when the first satellite receives the first measurement signal and the third time information when the first satellite sends the first feedback signal, which are sent by the first satellite.

[0045] In a third aspect, the present application provides a satellite-ground clock synchronization method applied to a second satellite, including:

[0046] Receiving a second measurement signal sent by the first satellite and sending a second feedback signal to the first satellite;

[0047] Determining the transmission delay between the second satellite and the first satellite based on the time information of the second measurement signal and the time information of the second feedback signal;

[0048] Determining the clock deviation of the second satellite based on the transmission delay between the second satellite and the first satellite;

[0049] Adjusting the clock of the second satellite based on the clock deviation of the second satellite;

[0050] Wherein, the clock of the first satellite has been calibrated.

[0051] Fourth aspect, the present application provides a satellite-ground clock synchronization method, which is applied to a relay satellite and includes:

[0052] Receiving a first measurement signal sent by a ground station and forwarding the first measurement signal to a first satellite;

[0053] Receiving a first feedback signal sent by the first satellite and forwarding the first feedback signal to the ground station;

[0054] Wherein, the time information of the first measurement signal and the time information of the first feedback signal are used to determine the transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine the clock deviation of the first satellite.

[0055] Fifth aspect, the present application provides a satellite-ground clock synchronization device, including a memory, a transceiver, and a processor:

[0056] The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0057] Receiving a first measurement signal sent by a ground station and sending a first feedback signal to the ground station;

[0058] Based on the time information of the first measurement signal and the time information of the first feedback signal, determining the transmission delay between the ground station and the first satellite;

[0059] Based on the transmission delay between the ground station and the first satellite, determining the clock deviation of the first satellite;

[0060] Adjusting the clock of the first satellite based on the clock deviation of the first satellite.

[0061] In one implementation, the processor is used to execute:

[0062] Based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal, determining the transmission delay between the ground station and the first satellite.

[0063] In one implementation, the processor is used to execute:

[0064] Receiving the first measurement signal sent by the ground station and recording the second time information when the first satellite receives the first measurement signal;

[0065] Send the first feedback signal to the ground station and record the third time information when the satellite sends the first feedback signal;

[0066] And,

[0067] Receive the first time information when the ground station sends the first measurement signal and the fourth time information when the ground station receives the first feedback signal.

[0068] In one implementation, the processor is configured to execute:

[0069] Based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, and the transmission delay between the ground station and the first satellite, determine the clock deviation of the first satellite;

[0070] Or,

[0071] Based on the third time information when the first satellite sends the first feedback signal, the fourth time information when the ground station receives the first feedback signal, and the transmission delay between the ground station and the first satellite, determine the clock deviation of the first satellite.

[0072] In one implementation, the processor is configured to execute:

[0073] Adjust the clock frequency of the first satellite or adjust the time value of the first satellite based on the clock deviation of the first satellite.

[0074] In one implementation, the processor is configured to execute:

[0075] Send a second measurement signal to the second satellite and receive the second feedback signal sent by the second satellite. The time information of the second measurement signal and the time information of the second feedback signal are used to determine the transmission delay between the first satellite and the second satellite, and the transmission delay between the first satellite and the second satellite is used to determine the clock deviation of the second satellite.

[0076] In one implementation, the processor is configured to execute:

[0077] Receive the first measurement signal sent by the ground station through the relay satellite and send the first feedback signal to the ground station through the relay satellite;

[0078] And,

[0079] Based on the first time information of the ground station sending the first measurement signal, the fifth time information of the relay satellite receiving the first measurement signal, the sixth time information of the relay satellite sending the first measurement signal, the second time information of the first satellite receiving the first measurement signal, the third time information of the first satellite sending the first feedback signal, the seventh time information of the relay satellite receiving the first feedback signal, the eighth time information of the relay satellite sending the first feedback signal, and the fourth time information of the ground station receiving the first feedback signal, determine the transmission delay between the ground station and the first satellite.

[0080] In one implementation, the time information of the first measurement signal and the time information of the first feedback signal are recorded by the physical layer hardware of the ground station and the first satellite.

[0081] In one implementation, the time information is Coordinated Universal Time or a frame number.

[0082] In one implementation, the identification of the first satellite is included in the first measurement signal.

[0083] In a sixth aspect, the present application provides a space-ground clock synchronization device, including a memory, a transceiver, and a processor:

[0084] The memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0085] Send a first measurement signal to the first satellite and receive a first feedback signal sent by the first satellite;

[0086] Based on the time information of the first measurement signal and the time information of the first feedback signal, determine the transmission delay between the ground station and the first satellite;

[0087] Based on the transmission delay between the ground station and the first satellite, determine the clock deviation of the first satellite;

[0088] Based on the clock deviation of the first satellite, determine the number of calibrations, and based on the number of calibrations, repeat the operation of sending the first measurement signal to the first satellite.

[0089] In one implementation, the magnitude of the clock deviation of the first satellite is positively correlated with the magnitude of the number of calibrations.

[0090] In one implementation, the processor is used to execute:

[0091] Determine the transmission delay between the ground station and the first satellite based on the first time information of the ground station sending the first measurement signal, the second time information of the first satellite receiving the first measurement signal, the third time information of the first satellite sending the first feedback signal, and the fourth time information of the ground station receiving the first feedback signal.

[0092] In one implementation, the processor is configured to execute:

[0093] Send the first measurement signal to the first satellite and record the first time information of the ground station sending the first measurement signal;

[0094] Receive the first feedback signal sent by the first satellite and record the fourth time information of the ground station receiving the first feedback signal;

[0095] And,

[0096] Receive the second time information of the first satellite receiving the first measurement signal and the third time information of the first satellite sending the first feedback signal sent by the first satellite.

[0097] In a seventh aspect, the present application provides a satellite-ground clock synchronization device, including a memory, a transceiver, and a processor:

[0098] The memory is used to store computer programs; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0099] Receive a second measurement signal sent by a first satellite and send a second feedback signal to the first satellite;

[0100] Determine the transmission delay between the second satellite and the first satellite based on the time information of the second measurement signal and the time information of the second feedback signal;

[0101] Determine the clock deviation of the second satellite based on the transmission delay between the second satellite and the first satellite;

[0102] Adjust the clock of the second satellite based on the clock deviation of the second satellite;

[0103] Wherein, the clock of the first satellite is calibrated.

[0104] In an eighth aspect, the present application provides a satellite-ground clock synchronization device, including a memory, a transceiver, and a processor:

[0105] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; a processor for reading the computer program in the memory and performing the following operations:

[0106] Receiving a first measurement signal sent by a receiving ground station and forwarding the first measurement signal to a first satellite;

[0107] Receiving a first feedback signal sent by the first satellite and forwarding the first feedback signal to the ground station;

[0108] Wherein, the time information of the first measurement signal and the time information of the first feedback signal are used to determine the transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine the clock deviation of the first satellite.

[0109] In a ninth aspect, the present application provides a satellite-ground clock synchronization device applied to a first satellite, including:

[0110] A transceiver unit for receiving a first measurement signal sent by a ground station and sending a first feedback signal to the ground station;

[0111] A first determination unit for determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal;

[0112] A second determination unit for determining the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite;

[0113] An adjustment unit for adjusting the clock of the first satellite based on the clock deviation of the first satellite.

[0114] In one implementation, the first determination unit includes:

[0115] A first determination module for determining the transmission delay between the ground station and the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal.

[0116] In one implementation, the transceiver unit includes:

[0117] A first receiving module for receiving the first measurement signal sent by the ground station and recording the second time information when the first satellite receives the first measurement signal;

[0118] A sending module, configured to send the first feedback signal to the ground station and record third time information of the satellite for sending the first feedback signal;

[0119] The device further includes:

[0120] A second receiving module, configured to receive the first time information of the ground station for sending the first measurement signal and the fourth time information of the ground station for receiving the first feedback signal.

[0121] In one implementation, the second determining unit includes:

[0122] A second determining module, configured to determine a clock deviation of the first satellite based on the first time information of the ground station for sending the first measurement signal, the second time information of the first satellite for receiving the first measurement signal, and a transmission delay between the ground station and the first satellite;

[0123] Or,

[0124] A third determining module, configured to determine a clock deviation of the first satellite based on the third time information of the first satellite for sending the first feedback signal, the fourth time information of the ground station for receiving the first feedback signal, and a transmission delay between the ground station and the first satellite.

[0125] In one implementation, the adjusting unit includes:

[0126] An adjusting module, configured to adjust a clock frequency of the first satellite or adjust a time value of the first satellite based on the clock deviation of the first satellite.

[0127] In one implementation, the device further includes:

[0128] A first transceiver module, configured to send a second measurement signal to a second satellite and receive a second feedback signal sent by the second satellite, where time information of the second measurement signal and time information of the second feedback signal are used to determine a transmission delay between the first satellite and the second satellite, and the transmission delay between the first satellite and the second satellite is used to determine a clock deviation of the second satellite.

[0129] In one implementation, the transceiver unit includes:

[0130] A second transceiver module, configured to receive the first measurement signal sent by the ground station through a relay satellite and send the first feedback signal to the ground station through the relay satellite;

[0131] The first determining unit includes:

[0132] A fourth determination module, configured to determine a transmission delay between the ground station and the first satellite based on first time information of the ground station for sending the first measurement signal, fifth time information of the relay satellite for receiving the first measurement signal, sixth time information of the relay satellite for sending the first measurement signal, second time information of the first satellite for receiving the first measurement signal, third time information of the first satellite for sending the first feedback signal, seventh time information of the relay satellite for receiving the first feedback signal, eighth time information of the relay satellite for sending the first feedback signal, and fourth time information of the ground station for receiving the first feedback signal.

[0133] In one implementation, the time information of the first measurement signal and the time information of the first feedback signal are recorded by physical layer hardware of the ground station and the first satellite.

[0134] In one implementation, the time information is Coordinated Universal Time or a frame number.

[0135] In one implementation, the identification of the first satellite is included in the first measurement signal.

[0136] In a tenth aspect, the present application provides a satellite-ground clock synchronization device applied to a ground station, including:

[0137] A first transceiver unit, configured to send a first measurement signal to a first satellite and receive a first feedback signal sent by the first satellite;

[0138] A first determination unit, configured to determine a transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal;

[0139] A second determination unit, configured to determine a clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite;

[0140] A second transceiver unit, configured to determine a calibration number based on the clock deviation of the first satellite and repeatedly execute sending the first measurement signal to the first satellite based on the calibration number.

[0141] In one implementation, the magnitude of the clock deviation of the first satellite is positively correlated with the magnitude of the calibration number.

[0142] In one implementation, the first determination unit includes:

[0143] A determination module, configured to determine a transmission delay between the ground station and the first satellite based on first time information of the ground station sending the first measurement signal, second time information of the first satellite receiving the first measurement signal, third time information of the first satellite sending the first feedback signal, and fourth time information of the ground station receiving the first feedback signal.

[0144] In one implementation, the first transceiver unit includes:

[0145] A sending module, configured to send the first measurement signal to the first satellite and record the first time information of the ground station sending the first measurement signal;

[0146] A first receiving module, configured to receive the first feedback signal sent by the first satellite and record the fourth time information of the ground station receiving the first feedback signal;

[0147] The apparatus further includes:

[0148] A second receiving module, configured to receive the second time information of the first satellite receiving the first measurement signal and the third time information of the first satellite sending the first feedback signal, both sent by the first satellite.

[0149] In an eleventh aspect, the present application provides a satellite-ground clock synchronization apparatus applied to a second satellite, including:

[0150] A transceiver unit, configured to receive a second measurement signal sent by a first satellite and send a second feedback signal to the first satellite;

[0151] A first determination unit, configured to determine a transmission delay between the second satellite and the first satellite based on the time information of the second measurement signal and the time information of the second feedback signal;

[0152] A second determination unit, configured to determine a clock deviation of the second satellite based on the transmission delay between the second satellite and the first satellite;

[0153] An adjustment unit, configured to adjust the clock of the second satellite based on the clock deviation of the second satellite;

[0154] Wherein, the clock of the first satellite is calibrated.

[0155] In a twelfth aspect, the present application provides a satellite-ground clock synchronization apparatus applied to a relay satellite, including:

[0156] A first transceiver unit, configured to receive a first measurement signal sent by a ground station and forward the first measurement signal to a first satellite;

[0157] A second transceiver unit, configured to receive a first feedback signal sent by the first satellite and forward the first feedback signal to the ground station;

[0158] Wherein, the time information of the first measurement signal and the time information of the first feedback signal are used to determine the transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine the clock deviation of the first satellite.

[0159] In a thirteenth aspect, the present application provides a processor-readable storage medium storing a computer program for causing the processor to execute any method described in any one of the first aspect to the fourth aspect.

[0160] In a fourteenth aspect, the present application provides a computer program product, including: a computer program stored in a readable storage medium, and the processor can read the computer program product from the readable storage medium, and the processor executes the computer program to execute any method described in any one of the first aspect to the fourth aspect.

[0161] It should be understood that the content described in the above-mentioned invention content part is not intended to limit the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0162] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required for 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, other drawings can be obtained based on these drawings without creative efforts.

[0163] Figure 1 is a flowchart of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 1 ;

[0164] Figure 2 is a schematic diagram of an application scenario of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 1 ;

[0165] Figure 3 is a schematic diagram of an application scenario of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 2 ;

[0166] Figure 4 is a schematic diagram of an application scenario of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 3;

[0167] Figure 5 is a schematic diagram of the hardware architecture of a communication device provided by an embodiment of the present application;

[0168] Figure 6 is a schematic flow chart of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 2 ;

[0169] Figure 7 is a schematic flow chart of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 3 ;

[0170] Figure 8 is a schematic flow chart of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 4 ;

[0171] Figure 9 is a schematic flow chart of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 5 ;

[0172] Figure 10 is a schematic diagram of the structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 1 ;

[0173] Figure 11 is a schematic diagram of the structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 2 ;

[0174] Figure 12 is a schematic diagram of the structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 3 ;

[0175] Figure 13 is a schematic diagram of the structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 4 ;

[0176] Figure 14 is a schematic diagram of the structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 5 ;

[0177] Figure 15 is a schematic diagram of the structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 6 ;

[0178] Figure 16 is a schematic diagram of the structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 7 ;

[0179] Figure 17 is a schematic diagram of the structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 8 。 Detailed implementation manners

[0180] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent three cases: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0181] In the embodiments of the present application, the term "a plurality of" means two or more, and other quantifiers are similar thereto.

[0182] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0183] The embodiments of the present application provide a satellite-ground clock synchronization method and device for realizing clock synchronization between a satellite and the ground.

[0184] Among them, the method and the device are based on the same application concept. Since the principles for solving problems by the method and the device are similar, the implementation of the device and the method can be referred to each other, and the repeated parts will not be described again.

[0185] The technical solutions provided in the embodiments of the present application can be applied to multiple systems. For example, the applicable systems may be a Long Term Evolution (LTE) system, an LTE Frequency Division Duplex (FDD) system, an LTE Time Division Duplex (TDD) system, a Long Term Evolution Advanced (LTE-A) system, a Universal Mobile Telecommunications System (UMTS), a Worldwide Interoperability for Microwave Access (WiMAX) system, a 5G New Radio (NR) system and its evolved communication systems, etc. These multiple systems may include terminal devices and network devices. The system may also include a core network part, such as an Evolved Packet System (EPS), a 5G System (5GS), etc.

[0186] The terminal device involved in the embodiments of the present application can be a device that provides voice and / or data connectivity to users, such as a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device can be called a user equipment (UE). The wireless terminal device can be a USB storage device, other personal computer memory devices, and dongles, and can also communicate with one or more core networks (CNs) via a radio access network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-integrated, or vehicle-mounted mobile device that exchanges voice and / or data with the radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiated protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), personal computers, tablets, machine-type communication (MTC) terminal devices, etc. The wireless terminal device can also be called a system, subscriber unit, subscriber station, mobile station, mobile, remote station, access point, remote terminal, access terminal, user terminal, user agent, user device, and wireless access points and routers / modems that meet the limitations of this definition, which are not limited in the embodiments of the present application.

[0187] The network device involved in the embodiments of this application can be a base station, which can include multiple cells that provide services to terminals. Depending on the specific application scenario, the base station can also be referred to as an access point, or it can be a device in the access network that communicates with wireless terminal devices through one or more sectors over the air interface, or other names. The network device can be used to mutually replace the received air frames and Internet Protocol (IP) packets, and act as a router between the wireless terminal device and the rest of the access network, where the rest of the access network can include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of this application can be an evolved network device (eNB or e-NodeB) in a Long Term Evolution (LTE) system, a 5G base station (gNB) in a 5G network architecture (next generation system), etc., or it can also be a Home evolved Node B (HeNB), a relay node, a femto, a pico, a network test device, etc. The embodiments of this application do not limit this. In some network architectures, the network device can include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit can also be geographically separated.

[0188] To achieve clock synchronization between satellites and the ground, adding a precise clock system to satellites not only increases costs but also increases the weight of the satellites, which is not conducive to their application in a large number of satellites. Since there is a difference in the time passing speed between satellites and the ground, a unified time standard is needed. In the embodiments of this application, satellite time is calibrated according to ground time for the following reasons: First, the currently most easily obtainable standard time is obtained from time service centers in various places on the ground, rather than orbital time; second, in future application scenarios, a large number of terminals are ground devices, and it is a lower-cost way to make satellites adapt to the ground rather than terminals adapt to satellites; third, the time rates of different satellite orbits are different, making it even more difficult to unify. In the embodiments of this application, it is proposed to use the communication process between satellites and ground stations for clock calibration. Ground stations such as gateway stations or terminals can obtain standard time information. Therefore, taking the time of the ground station as the reference, time information is transmitted through the communication process between the ground station and the satellite, thereby calibrating the satellite clock and achieving satellite-ground clock synchronization.

[0189] Figure 1 It is a schematic flowchart of a satellite-ground clock synchronization method provided by the embodiments of this application. As Figure 1 shown, the method includes:

[0190] S101. The ground station sends a first measurement signal to the first satellite.

[0191] S102. After receiving the first measurement signal, the first satellite sends a first feedback signal to the ground station.

[0192] S103. The first satellite determines the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal, determines the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite, and adjusts the clock of the first satellite based on the clock deviation of the first satellite.

[0193] The ground station sends a first measurement signal to the first satellite. After receiving the first measurement signal, the first satellite sends a first feedback signal to the ground station, and the ground station receives this first feedback signal. Since there is a relatively long distance between the first satellite and the ground station, in order to ensure the alignment of time slots during the communication process, it is necessary for the ground station to perform advance compensation on the transmission time according to the ephemeris and process the reception time, while the satellite does not need to perform compensation. Therefore, in the embodiments of the present application, the ground station sends the first measurement signal. Moreover, since the satellite is always in high-speed motion, the channel conditions change rapidly, and the distance and azimuth also change. Therefore, when the ground station sends the first measurement signal, the forwarding time between the first satellite receiving the first measurement signal and sending the first feedback signal is as short as possible. In this case, the channel change is relatively small. Optionally, due to beam coverage, a satellite can cover multiple ground stations, and a ground station can also cover multiple satellites. In order to perform one-to-one calibration, the first measurement signal includes the identifier of the first satellite. Thus, after receiving the first measurement signal, the first satellite can determine that the measurement signal is sent to itself based on this identifier. Optionally, in the embodiments of the present application, the ground station selects a gateway station, and the gateway station has a concentrated beam and more accurate time.

[0194] The time information of the first measurement signal may include the first time information when the ground station sends the first measurement signal and the second time information when the first satellite receives the first measurement signal. The time information of the first feedback signal may include the third time information when the first satellite sends the first feedback signal and the fourth time information when the ground station receives the first feedback signal. The time information in the embodiments of the present application may be Coordinated Universal Time or frame number.

[0195] It can be understood that the above time information can be transmitted between the ground station and the first satellite. For example, after the first satellite sends a first feedback signal to the ground station, the first satellite can send the second time information when the first satellite receives the first measurement signal and the third time information when the first satellite sends the first feedback signal to the ground station through other signals subsequently. Another example is that after the ground station receives the first feedback signal, the ground station can send the first time information when the ground station sends the first measurement signal and the fourth time information when the ground station receives the first feedback signal to the first satellite through other signals subsequently.

[0196] Optionally, for the first satellite, the first satellite receives the first measurement signal sent by the ground station and records the second time information when the first satellite receives the first measurement signal; the first satellite sends a first feedback signal to the ground station and records the third time information when the satellite sends the first feedback signal; optionally, the first satellite receives the first time information when the ground station sends the first measurement signal and the fourth time information when the ground station receives the first feedback signal.

[0197] Optionally, for the ground station, the ground station sends a first measurement signal to the first satellite and records the first time information when the ground station sends the first measurement signal; the ground station receives the first feedback signal sent by the first satellite and records the fourth time information when the ground station receives the first feedback signal; optionally, the ground station receives the second time information when the first satellite receives the first measurement signal and the third time information when the first satellite sends the first feedback signal sent by the first satellite.

[0198] The first satellite determines the transmission delay between the ground station and the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal.

[0199] For example Figure 2As shown in the figure, the first time information when the ground station sends the first measurement signal is denoted as T1, the second time information when the first satellite receives the first measurement signal is denoted as T2, the third time information when the first satellite sends the first feedback signal is denoted as T3, and the fourth time information when the ground station receives the first feedback signal is denoted as T4. Then, the transmission delay between the first satellite and the ground station, that is, the air interface transmission delay, is △T = (T2 - T1 + T4 - T3) / 2. Among them, T1 and T4 are relatively accurate ground times recorded by the ground station, T2 and T3 are the times recorded by the satellite, and there may be a certain deviation between T2 and T3. However, since the deviations of T2 and T3 are the same and they are in a subtraction relationship, the deviation can just be offset. In addition, if there is a frequency offset in the satellite clock, since the interval between T2 and T3 is very short, the frequency offset can also be ignored. The first satellite and the ground station have a relatively high moving speed. The difference between the two air interfaces of sending and receiving is mainly determined by the moving distance of the first satellite during the time from T2 to T3. This time is generally within 1 ms, so the difference will not be very large and can be processed according to the same air interface conditions. Therefore, overall, the transmission delay calculated by the above method is a relatively accurate result.

[0200] Optionally, when calculating the transmission delay between the first satellite and the ground station, the first measurement signal can be sent multiple times for testing, and the average value of the transmission delays obtained from multiple tests can be used as the finally determined transmission delay, and the clock deviation can be determined based on this.

[0201] After determining the transmission delay between the ground station and the first satellite, any of the following methods can be used to determine the clock deviation of the first satellite based on the transmission delay.

[0202] In one implementation, based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, and the transmission delay between the ground station and the first satellite, the clock deviation of the first satellite is determined. For example, based on the first time information when the ground station sends the first measurement signal and the transmission delay between the ground station and the first satellite, the second accurate time T2’ when the first satellite receives the first measurement signal is determined as T2’ = T1 + △T. Then, the clock deviation of the first satellite is the difference T2 - T2’ between the second time information when the first satellite receives the first measurement signal and the second accurate time.

[0203] In another implementation, based on the third time information of the first satellite sending the first feedback signal, the fourth time information of the ground station receiving the first feedback signal, and the transmission delay between the ground station and the first satellite, the clock deviation of the first satellite is determined. For example, based on the fourth time information of the ground station receiving the first feedback signal and the transmission delay between the ground station and the first satellite, the third accurate time T3’ when the first satellite sends the first feedback signal is determined as T3’ = T4 - △T. Then, the clock deviation of the first satellite is the difference T3 - T3’ between the third time information of the first satellite sending the first feedback signal and the third accurate time.

[0204] After determining the clock deviation of the first satellite based on the above method, the first satellite can adjust its clock based on the clock deviation. Optionally, the clock frequency of the first satellite is adjusted or the time value of the first satellite is adjusted based on the clock deviation of the first satellite. Among them, adjusting the clock frequency of the first satellite means increasing or decreasing the clock frequency based on the clock deviation so that the time passing speed of the first satellite is consistent with that of the ground, making the clock deviation of the first satellite gradually decrease and the time gradually approach accuracy. The specific adjustment value can be set according to the actual situation. Adjusting the time value of the first satellite means directly adjusting the time value of the first satellite to the accurate value or close to the accurate value based on the clock deviation.

[0205] In the embodiment of the present application, the clock of the first satellite is calibrated by using the sending and receiving times of the first measurement signal and the first feedback signal between the first satellite and the ground station. Taking the time of the ground station as the reference, combined with the transmission delay between the first satellite and the ground station to determine the clock deviation of the first satellite, and then adjusting the satellite clock, realizing satellite-ground clock synchronization. This scheme does not increase the satellite cost and can be widely applied to a large number of low-earth orbit satellites.

[0206] Based on the above embodiment, in practical applications, the time of the satellite usually cannot be corrected in a sudden manner, otherwise communication failure will occur. Therefore, the clock calibration can be carried out according to the principles of multiple acquisitions, gradual approximation, and long-term tracking.

[0207] Optionally, the ground station determines the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal, determines the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite, determines the number of calibrations based on the clock deviation of the first satellite, and repeats sending the first measurement signal to the first satellite based on the number of calibrations. Optionally, the magnitude of the clock deviation of the first satellite is positively correlated with the magnitude of the number of calibrations.

[0208] The ground station determines the transmission delay between the ground station and the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal. The method for the ground station to determine the transmission delay and the clock offset of the first satellite based on the transmission delay is similar to the method for the first satellite to determine the transmission delay in the foregoing embodiments, and reference can be made to the description of the foregoing embodiments. After the ground station determines the clock offset of the first satellite, the number of subsequent calibration times is determined based on the magnitude of the clock offset. If the clock offset of the first satellite is large, a larger number of calibration times can be determined to achieve high-precision calibration with sufficient times. If the clock offset of the first satellite is small, a smaller number of calibration times can be determined to reduce the occupation of communication resources.

[0209] The solution of the embodiment of the present application can also be used for time calibration between satellites. Since there is a laser or microwave link between satellites, if one satellite is time-calibrated, the same method as in the foregoing embodiments can also be used to calibrate another satellite based on the time of the calibrated satellite.

[0210] Refer to Figure 3 As shown, the first satellite sends a second measurement signal to the second satellite and receives the second feedback signal sent by the second satellite. The time information of the second measurement signal and the time information of the second feedback signal are used to determine the transmission delay between the first satellite and the second satellite, and the transmission delay between the first satellite and the second satellite is used to determine the clock offset of the second satellite. Optionally, in a scenario where the second satellite cannot be directly connected to the ground station, the first satellite can be used to calibrate the clock of the second satellite.

[0211] The first satellite is the satellite whose clock has been calibrated using the ground station in the foregoing embodiments. The second satellite is calibrated based on the time of the first satellite, and its principle is similar to the principle of calibrating the first satellite using the ground station. That is, based on the time when the first satellite sends the second measurement signal to the second satellite, the time when the second satellite receives the second measurement signal, the time when the second satellite sends the second feedback signal to the first satellite, and the time when the first satellite receives the second feedback signal sent by the second satellite, the transmission delay between the first satellite and the second satellite is determined. Then, based on the transmission delay between the first satellite and the second satellite, the clock offset of the second satellite is determined, thereby adjusting the clock of the second satellite, and thus the clock synchronization between the first satellite and the second satellite is achieved. Since the first satellite and the ground station are synchronized, the second satellite and the ground station are also synchronized.

[0212] The solution of the embodiment of the present application can also be that the ground station calibrates the time of the first satellite through a relay satellite. For example, Figure 4As shown, after the relay satellite receives the first measurement signal sent by the ground station, it forwards the signal to the first satellite to be calibrated. The first feedback signal sent by the first satellite is also forwarded to the ground station through the relay satellite. During this process, the ground station, the relay satellite, and the first satellite all record the time information of their respective signal transmissions and receptions. For the first satellite, the first satellite receives the first measurement signal sent by the ground station through the relay satellite and sends the first feedback signal to the ground station through the relay satellite. Based on the first time information T1 when the ground station sends the first measurement signal, the fifth time information T5 when the relay satellite receives the first measurement signal, the sixth time information T6 when the relay satellite sends the first measurement signal, the second time information T2 when the first satellite receives the first measurement signal, the third time information T3 when the first satellite sends the first feedback signal, the seventh time information T7 when the relay satellite receives the first feedback signal, the eighth time information T8 when the relay satellite sends the first feedback signal, and the fourth time information T4 when the ground station receives the first feedback signal, the transmission delay between the ground station and the first satellite is determined.

[0213] Referring to Figure 4 It can be known that the air interface transmission delay between the relay satellite and the ground station is △Ta = (T2 - T1 + T4 - T3) / 2; the air interface transmission delay between the first satellite and the relay satellite is △Tb = (T2 - T6 + T7 - T3) / 2; the signal forwarding delay from the relay satellite to the first satellite is △Tc = T6 - T5; the signal forwarding delay from the relay satellite to the ground station is △Td = T8 - T7. Similar to the previous embodiments, there may be deviations in the time information of the relay satellite or the first satellite, but the deviations are offset by subtraction in the above formulas. Therefore, the transmission delays at each stage calculated by the above formulas are relatively accurate results. In this relay scenario, the shorter the forwarding delay of the relay satellite, the more accurate the result.

[0214] After determining the transmission delays at the above stages, in one implementation, based on the first time information when the ground station sends the first measurement signal, the air interface transmission delay between the relay satellite and the ground station, the signal forwarding delay from the relay satellite to the first satellite, and the air interface transmission delay between the first satellite and the relay satellite, the second accurate time T2' when the first satellite receives the first measurement signal is determined as T2' = T1 + △Ta + △Tc + △Tb. Then, the clock deviation of the first satellite is the difference between the second time information when the first satellite receives the first measurement signal and the second accurate time, which is T2 - T2'.

[0215] In another implementation, based on the fourth time information of the ground station receiving the first feedback signal, the air interface transmission delay between the relay satellite and the ground station, the time delay of the relay satellite forwarding the signal to the ground station, and the air interface transmission delay between the first satellite and the relay satellite, determine the third accurate time T3' when the first satellite sends the first feedback signal as T3' = T4 - ΔTa - ΔTc - ΔTb. Then, the clock deviation of the first satellite is the difference between the third time information when the first satellite sends the first feedback signal and the third accurate time, i.e., T3 - T3'.

[0216] After determining the clock deviation of the first satellite based on the above method, the first satellite can adjust its clock based on the clock deviation.

[0217] In the embodiments of the present application, both the satellite and the ground station need to record the time of receiving and sending signals respectively. Generally, the general hardware architecture of a communication device is as Figure 5 shown. This communication device is used to illustrate the satellite or the ground station. Its physical layer (PHY) can be implemented by an FPGA (Field-Programmable Gate Array), and the L2 and higher layers can be implemented by a CPU (Central Processing Unit). If you want to determine the accurate time of signal sending and receiving, the closer to the TX and RX antennas of the transceiver (TRX), the more accurate. Therefore, in the embodiments of the present application, the acquisition of the sending and receiving time can be as close to the antenna as possible. Considering the implementation complexity, it can be implemented in the physical layer. That is, the time information of the first measurement signal and the first feedback signal are recorded by the physical layer hardware of the ground station and the first satellite, and the same applies to the second measurement signal and the second feedback signal, etc., so as to ensure the accuracy of the time recorded by each device.

[0218] Figure 6 is a schematic flowchart of a satellite-ground clock synchronization method provided by the embodiments of the present application Figure 2 , applied to the first satellite, as Figure 6 shown. The method includes:

[0219] S601. Receive the first measurement signal sent by the ground station and send the first feedback signal to the ground station.

[0220] S602. Determine the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal.

[0221] S603. Determine the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite.

[0222] S604. Adjust the clock of the first satellite based on the clock deviation of the first satellite.

[0223] The method and possible implementation manners executed by the first satellite in the embodiments of the present application may be referred to the foregoing embodiments, and will not be elaborated herein.

[0224] Figure 7 It is a schematic flow of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 3 and is applied to a ground station. For example Figure 7 as shown, the method includes:

[0225] S701: Send a first measurement signal to the first satellite and receive a first feedback signal sent by the first satellite.

[0226] S702: Determine the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal.

[0227] S703: Determine the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite.

[0228] S704: Determine the number of calibration times based on the clock deviation of the first satellite, and repeatedly execute sending the first measurement signal to the first satellite based on the number of calibration times.

[0229] The method and possible implementation manners executed by the ground station in the embodiments of the present application may be referred to the foregoing embodiments, and will not be elaborated herein.

[0230] Figure 8 It is a schematic flow of a satellite-ground clock synchronization method provided by an embodiment of the present application Figure 4 and is applied to the second satellite. For example Figure 8 as shown, the method includes:

[0231] S801: Receive a second measurement signal sent by the first satellite and send a second feedback signal to the first satellite.

[0232] S802: Determine the transmission delay between the second satellite and the first satellite based on the time information of the second measurement signal and the time information of the second feedback signal.

[0233] S803: Determine the clock deviation of the second satellite based on the transmission delay between the second satellite and the first satellite.

[0234] S804: Adjust the clock of the second satellite based on the clock deviation of the second satellite.

[0235] Wherein, the clock of the first satellite has been calibrated.

[0236] The method and possible implementation manners executed by the second satellite in the embodiments of the present application may be referred to the foregoing embodiments, and will not be elaborated herein.

[0237] Figure 9Schematic flow of a satellite - ground clock synchronization method provided by an embodiment of the present application Figure 5 , applied to a relay satellite, such as Figure 9 shown, the method includes:

[0238] S901. Receive the first measurement signal sent by the receiving ground station and forward the first measurement signal to the first satellite.

[0239] S902. Receive the first feedback signal sent by the first satellite and forward the first feedback signal to the ground station.

[0240] Among them, the time information of the first measurement signal and the time information of the first feedback signal are used to determine the transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine the clock deviation of the first satellite.

[0241] For the method and possible implementation manners executed by the relay satellite in the embodiment of the present application, reference can be made to the foregoing embodiments, which will not be elaborated herein.

[0242] Figure 10 Schematic structure of a satellite - ground clock synchronization device provided by an embodiment of the present application Figure 1 . As Figure 10 shown, the satellite - ground clock synchronization device includes:

[0243] A transceiver unit 1001, configured to receive the first measurement signal sent by the ground station and send the first feedback signal to the ground station;

[0244] A first determination unit 1002, configured to determine the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal;

[0245] A second determination unit 1003, configured to determine the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite;

[0246] An adjustment unit 1004, configured to adjust the clock of the first satellite based on the clock deviation of the first satellite.

[0247] In one implementation manner, the first determination unit 1002 includes:

[0248] A first determination module, configured to determine the transmission delay between the ground station and the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal.

[0249] In one implementation manner, the transceiver unit 1001 includes:

[0250] The first receiving module is configured to receive the first measurement signal sent by the ground station and record the second time information when the first satellite receives the first measurement signal;

[0251] The sending module is configured to send the first feedback signal to the ground station and record the third time information when the satellite sends the first feedback signal;

[0252] The device further includes:

[0253] The second receiving module is configured to receive the first time information when the ground station sends the first measurement signal and the fourth time information when the ground station receives the first feedback signal.

[0254] In one implementation, the second determination unit 1003 includes:

[0255] The second determination module is configured to determine the clock deviation of the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, and the transmission delay between the ground station and the first satellite;

[0256] Or,

[0257] The third determination module is configured to determine the clock deviation of the first satellite based on the third time information when the first satellite sends the first feedback signal, the fourth time information when the ground station receives the first feedback signal, and the transmission delay between the ground station and the first satellite.

[0258] In one implementation, the adjustment unit 1004 includes:

[0259] The adjustment module is configured to adjust the clock frequency of the first satellite or adjust the time value of the first satellite based on the clock deviation of the first satellite.

[0260] In one implementation, the device further includes:

[0261] The first transceiver module is configured to send the second measurement signal to the second satellite and receive the second feedback signal sent by the second satellite. The time information of the second measurement signal and the time information of the second feedback signal are used to determine the transmission delay between the first satellite and the second satellite, and the transmission delay between the first satellite and the second satellite is used to determine the clock deviation of the second satellite.

[0262] In one implementation, the transceiver unit 1001 includes:

[0263] The second transceiver module is configured to receive the first measurement signal sent by the ground station through the relay satellite and send the first feedback signal to the ground station through the relay satellite;

[0264] The first determination unit includes:

[0265] A fourth determination module, configured to determine the transmission delay between the ground station and the first satellite based on the first time information of the ground station sending the first measurement signal, the fifth time information of the relay satellite receiving the first measurement signal, the sixth time information of the relay satellite sending the first measurement signal, the second time information of the first satellite receiving the first measurement signal, the third time information of the first satellite sending the first feedback signal, the seventh time information of the relay satellite receiving the first feedback signal, the eighth time information of the relay satellite sending the first feedback signal, and the fourth time information of the ground station receiving the first feedback signal.

[0266] In one implementation, the time information of the first measurement signal and the time information of the first feedback signal are recorded by the physical layer hardware of the ground station and the first satellite.

[0267] In one implementation, the time information is Coordinated Universal Time or a frame number.

[0268] In one implementation, the first measurement signal includes the identifier of the first satellite.

[0269] Figure 11 is a schematic structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 2 As Figure 11 shown, the satellite-ground clock synchronization device includes:

[0270] A first transceiver unit 1101, configured to send a first measurement signal to the first satellite and receive a first feedback signal sent by the first satellite;

[0271] A first determination unit 1102, configured to determine the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal;

[0272] A second determination unit 1103, configured to determine the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite;

[0273] A second transceiver unit 1104, configured to determine the number of calibration times based on the clock deviation of the first satellite and repeatedly execute sending the first measurement signal to the first satellite based on the number of calibration times.

[0274] In one implementation, the magnitude of the clock deviation of the first satellite is positively correlated with the magnitude of the number of calibration times.

[0275] In one implementation, the first determination unit 1102 includes:

[0276] A determination module, configured to determine the transmission delay between the ground station and the first satellite based on the first time information of the first measurement signal sent by the ground station, the second time information of the first satellite receiving the first measurement signal, the third time information of the first satellite sending the first feedback signal, and the fourth time information of the ground station receiving the first feedback signal.

[0277] In one implementation, the first transceiver unit 1101 includes:

[0278] A sending module, configured to send a first measurement signal to the first satellite and record the first time information of the ground station sending the first measurement signal;

[0279] A first receiving module, configured to receive the first feedback signal sent by the first satellite and record the fourth time information of the ground station receiving the first feedback signal;

[0280] The apparatus further includes:

[0281] A second receiving module, configured to receive the second time information of the first satellite receiving the first measurement signal and the third time information of the first satellite sending the first feedback signal sent by the first satellite.

[0282] Figure 12 It is a schematic structure of a satellite-ground clock synchronization apparatus provided by an embodiment of the present application Figure 3 . As Figure 12 shown, the satellite-ground clock synchronization apparatus includes:

[0283] A transceiver unit 1201, configured to receive a second measurement signal sent by the first satellite and send a second feedback signal to the first satellite;

[0284] A first determination unit 1202, configured to determine the transmission delay between the second satellite and the first satellite based on the time information of the second measurement signal and the time information of the second feedback signal;

[0285] A second determination unit 1203, configured to determine the clock deviation of the second satellite based on the transmission delay between the second satellite and the first satellite;

[0286] An adjustment unit 1204, configured to adjust the clock of the second satellite based on the clock deviation of the second satellite;

[0287] Wherein, the clock of the first satellite has been calibrated.

[0288] Figure 13 It is a schematic structure of a satellite-ground clock synchronization apparatus provided by an embodiment of the present application Figure 4 . As Figure 13 shown, the satellite-ground clock synchronization apparatus includes:

[0289] The first transceiver unit 1301 is configured to receive a first measurement signal sent by a receiving ground station and forward the first measurement signal to the first satellite;

[0290] The second transceiver unit 1302 is configured to receive a first feedback signal sent by the first satellite and forward the first feedback signal to the ground station;

[0291] Wherein, the time information of the first measurement signal and the time information of the first feedback signal are used to determine the transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine the clock deviation of the first satellite.

[0292] It should be noted here that the above device provided by the embodiments of the present invention can implement all the method steps implemented by the above method embodiments and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0293] Figure 14 This is a schematic structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 5 . As Figure 14 shown, the satellite-ground clock synchronization device includes a memory 1420, a transceiver 1410, and a processor 1400. The memory 1420 is used to store computer programs; the transceiver 1410 is used to transmit and receive data under the control of the processor 1400;

[0294] Wherein, in Figure 14 , the bus architecture may include any number of interconnected buses and bridges, specifically, various circuits of one or more processors 1400 represented by the processor 1400 and the memory represented by the memory 1420 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be further described herein. The bus interface provides an interface. The transceiver 1410 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical cables, and other transmission mediums.

[0295] The processor 1400 is responsible for managing the bus architecture and general processing, and the memory 1420 can store the data used by the processor 1400 when performing operations.

[0296] Optionally, the processor 1400 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device). The processor may also adopt a multi-core architecture. The processor and the memory may also be physically separated.

[0297] The processor 1400 is configured to read a computer program in the memory and perform the following operations:

[0298] Receive a first measurement signal sent by the ground station and send a first feedback signal to the ground station;

[0299] Determine the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal;

[0300] Determine the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite;

[0301] Adjust the clock of the first satellite based on the clock deviation of the first satellite.

[0302] In one implementation, the processor 1400 is configured to execute:

[0303] Determine the transmission delay between the ground station and the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal.

[0304] In one implementation, the processor 1400 is configured to execute:

[0305] Receive the first measurement signal sent by the ground station and record the second time information when the first satellite receives the first measurement signal;

[0306] Send the first feedback signal to the ground station and record the third time information when the satellite sends the first feedback signal;

[0307] And,

[0308] Receive the first time information when the ground station sends the first measurement signal and the fourth time information when the ground station receives the first feedback signal sent by the ground station.

[0309] In one implementation, the processor 1400 is configured to execute:

[0310] Determine the clock offset of the first satellite based on the first time information of the ground station sending the first measurement signal, the second time information of the first satellite receiving the first measurement signal, and the transmission delay between the ground station and the first satellite;

[0311] Or,

[0312] Determine the clock offset of the first satellite based on the third time information of the first satellite sending the first feedback signal, the fourth time information of the ground station receiving the first feedback signal, and the transmission delay between the ground station and the first satellite.

[0313] In one implementation, the processor 1400 is configured to execute:

[0314] Adjust the clock frequency of the first satellite or adjust the time value of the first satellite based on the clock offset of the first satellite.

[0315] In one implementation, the processor 1400 is configured to execute:

[0316] Send a second measurement signal to the second satellite and receive a second feedback signal sent by the second satellite. The time information of the second measurement signal and the time information of the second feedback signal are used to determine the transmission delay between the first satellite and the second satellite, and the transmission delay between the first satellite and the second satellite is used to determine the clock offset of the second satellite.

[0317] In one implementation, the processor 1400 is configured to execute:

[0318] Receive the first measurement signal sent by the ground station through the relay satellite and send the first feedback signal to the ground station through the relay satellite;

[0319] And,

[0320] Determine the transmission delay between the ground station and the first satellite based on the first time information of the ground station sending the first measurement signal, the fifth time information of the relay satellite receiving the first measurement signal, the sixth time information of the relay satellite sending the first measurement signal, the second time information of the first satellite receiving the first measurement signal, the third time information of the first satellite sending the first feedback signal, the seventh time information of the relay satellite receiving the first feedback signal, the eighth time information of the relay satellite sending the first feedback signal, and the fourth time information of the ground station receiving the first feedback signal.

[0321] In one implementation, the time information of the first measurement signal and the time information of the first feedback signal are recorded by the physical layer hardware of the ground station and the first satellite.

[0322] In one implementation, the time information is Coordinated Universal Time or frame number.

[0323] In one implementation, the first measurement signal includes the identifier of the first satellite.

[0324] Figure 15 is a schematic structure of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 6 . As Figure 15 shown, the satellite-ground clock synchronization device includes a memory 1520, a transceiver 1510, and a processor 1500. The memory 1520 is used to store computer programs; the transceiver 1510 is used to transmit and receive data under the control of the processor 1500;

[0325] Among them, in Figure 15 , the bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors 1500 represented by the processor 1500 and the memory represented by the memory 1520 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, so they will not be further described herein. The bus interface provides an interface. The transceiver 1510 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include, these transmission mediums include wireless channels, wired channels, optical cables and other transmission mediums.

[0326] The processor 1500 is responsible for managing the bus architecture and general processing, and the memory 1520 can store the data used by the processor 1500 when performing operations.

[0327] Optionally, the processor 1500 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture. The processor and the memory may also be physically separated.

[0328] The processor 1500 is used to read the computer program in the memory and perform the following operations:

[0329] Send a first measurement signal to the first satellite and receive a first feedback signal sent by the first satellite;

[0330] Based on the time information of the first measurement signal and the time information of the first feedback signal, determine the transmission delay between the ground station and the first satellite;

[0331] Determine the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite;

[0332] Determine the number of calibrations based on the clock deviation of the first satellite, and repeatedly send the first measurement signal to the first satellite based on the number of calibrations.

[0333] In one implementation, the magnitude of the clock deviation of the first satellite is positively correlated with the magnitude of the number of calibrations.

[0334] In one implementation, the processor 1500 is used to execute:

[0335] Based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal, determine the transmission delay between the ground station and the first satellite.

[0336] In one implementation, the processor 1500 is used to execute:

[0337] Send the first measurement signal to the first satellite and record the first time information when the ground station sends the first measurement signal;

[0338] Receive the first feedback signal sent by the first satellite and record the fourth time information when the ground station receives the first feedback signal;

[0339] And,

[0340] Receive the second time information when the first satellite receives the first measurement signal and the third time information when the first satellite sends the first feedback signal sent by the first satellite.

[0341] Figure 16 is a structural schematic of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 7 . As Figure 16 shown, the satellite-ground clock synchronization device includes a memory 1620, a transceiver 1610, and a processor 1600. The memory 1620 is used to store computer programs; the transceiver 1610 is used to transmit and receive data under the control of the processor 1600;

[0342] Among them, in Figure 16Among them, the bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors 1600 represented by the processor 1600 and the memory 1620 represented by the memory are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface. The transceiver 1610 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables, and other transmission mediums.

[0343] The processor 1600 is responsible for managing the bus architecture and general processing, and the memory 1620 can store data used by the processor 1600 when performing operations.

[0344] Optionally, the processor 1600 may be a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture. The processor and the memory may also be physically separated.

[0345] The processor 1600 is used to read the computer program in the memory and perform the following operations:

[0346] Receive the second measurement signal sent by the first satellite and send the second feedback signal to the first satellite;

[0347] Based on the time information of the second measurement signal and the time information of the second feedback signal, determine the transmission delay between the second satellite and the first satellite;

[0348] Based on the transmission delay between the second satellite and the first satellite, determine the clock deviation of the second satellite;

[0349] Based on the clock deviation of the second satellite, adjust the clock of the second satellite;

[0350] Wherein, the clock of the first satellite is calibrated.

[0351] Figure 17 is a structural schematic diagram of a satellite-ground clock synchronization device provided by an embodiment of the present application Figure 8 . As Figure 17As shown in the figure, the satellite-ground clock synchronization device includes a memory 1720, a transceiver 1710, and a processor 1700. The memory 1720 is used to store computer programs; the transceiver 1710 is used to transmit and receive data under the control of the processor 1700;

[0352] Among them, in Figure 17 the bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors 1700 represented by the processor 1700 and the memory represented by the memory 1720 are linked together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits together, which are well known in the art, so they will not be further described herein. The bus interface provides an interface. The transceiver 1710 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on the transmission medium, and these transmission media include wireless channels, wired channels, optical fiber cables and other transmission media.

[0353] The processor 1700 is responsible for managing the bus architecture and general processing, and the memory 1720 can store the data used by the processor 1700 when performing operations.

[0354] Optionally, the processor 1700 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture. The processor and the memory may also be physically separated.

[0355] The processor 1700 is used to read the computer program in the memory and perform the following operations:

[0356] Receive the first measurement signal sent by the ground station and forward the first measurement signal to the first satellite;

[0357] Receive the first feedback signal sent by the first satellite and forward the first feedback signal to the ground station;

[0358] Among them, the time information of the first measurement signal and the time information of the first feedback signal are used to determine the transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine the clock deviation of the first satellite.

[0359] It should be noted here that the above device provided by the embodiments of the present invention can implement all the method steps implemented by the above method embodiments and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described herein again.

[0360] It should be noted that the division of units in the embodiments of the present application is illustrative, merely a logical function division, and there may be other division methods in actual implementation. In addition, in each embodiment of the present application, each functional unit may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit. The above integrated units may be implemented in the form of hardware or in the form of software functional units.

[0361] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a processor-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0362] It should be noted here that the above device provided by the embodiments of the present invention can implement all the method steps implemented by the above method embodiments and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described herein again.

[0363] The present application provides a processor-readable storage medium storing a computer program for causing a processor to execute the method of any of the foregoing embodiments.

[0364] The processor-readable storage medium may be any available medium or data storage device accessible by the processor, including but not limited to magnetic memories (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical memories (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor memories (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid state drives (SSD)).

[0365] The present application provides a computer program product, which includes: a computer program stored in a readable storage medium. A processor can read the computer program product from the readable storage medium, and the processor executes the computer program to perform all or part of the steps of the methods described in various embodiments of the present application.

[0366] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0367] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or multiple flows and / or blocks

[0368] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the processor-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one or more of the flows Figure 1 or multiple flows and / or blocks

[0369] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A satellite-ground clock synchronization method, characterized in that, Applied to the first satellite, including: Receiving a first measurement signal sent by a ground station and sending a first feedback signal to the ground station; Determining a transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal; Determining a clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite; Adjusting the clock of the first satellite based on the clock deviation of the first satellite.

2. The method according to claim 1, characterized in that, The determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal includes: Determining the transmission delay between the ground station and the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal.

3. The method according to claim 2, characterized in that, The receiving the first measurement signal sent by the ground station and sending the first feedback signal to the ground station includes: Receiving the first measurement signal sent by the ground station and recording the second time information when the first satellite receives the first measurement signal; Sending the first feedback signal to the ground station and recording the third time information when the satellite sends the first feedback signal; The method further includes: Receiving the first time information when the ground station sends the first measurement signal and the fourth time information when the ground station receives the first feedback signal sent by the ground station.

4. The method according to claim 2, characterized in that, The determining the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite includes: Determining the clock deviation of the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, and the transmission delay between the ground station and the first satellite; Or, Determining the clock deviation of the first satellite based on the third time information when the first satellite sends the first feedback signal, the fourth time information when the ground station receives the first feedback signal, and the transmission delay between the ground station and the first satellite.

5. The method according to claim 1, characterized in that, The adjusting the clock of the first satellite based on the clock deviation of the first satellite includes: Adjusting the clock frequency of the first satellite or adjusting the time value of the first satellite based on the clock deviation of the first satellite.

6. The method according to claim 1, characterized in that, It further includes: Sending a second measurement signal to a second satellite and receiving a second feedback signal sent by the second satellite, where the time information of the second measurement signal and the time information of the second feedback signal are used to determine the transmission delay between the first satellite and the second satellite, and the transmission delay between the first satellite and the second satellite is used to determine the clock deviation of the second satellite.

7. The method according to claim 1, characterized in that, The receiving the first measurement signal sent by the ground station and sending the first feedback signal to the ground station includes: Receive the first measurement signal sent by the ground station via the relay satellite, and send the first feedback signal to the ground station via the relay satellite; Determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal includes: Based on the first time information when the ground station sends the first measurement signal, the fifth time information when the relay satellite receives the first measurement signal, the sixth time information when the relay satellite sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, the seventh time information when the relay satellite receives the first feedback signal, the eighth time information when the relay satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal, determine the transmission delay between the ground station and the first satellite.

8. The method according to any one of claims 1-7, characterized in that, The time information of the first measurement signal and the time information of the first feedback signal are recorded by the physical layer hardware of the ground station and the first satellite.

9. The method according to any one of claims 1-7, characterized in that, The time information is Coordinated Universal Time or frame number.

10. The method according to any one of claims 1-7, characterized in that, The first measurement signal includes the identifier of the first satellite.

11. A satellite-ground clock synchronization method, characterized in that, Applied to a ground station, it includes: Send a first measurement signal to the first satellite and receive the first feedback signal sent by the first satellite; Determine the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal; Determine the clock offset of the first satellite based on the transmission delay between the ground station and the first satellite; Determine the number of calibrations based on the clock offset of the first satellite, and repeat sending the first measurement signal to the first satellite based on the number of calibrations.

12. The method according to claim 11, wherein, The magnitude of the clock offset of the first satellite is positively correlated with the magnitude of the number of calibrations.

13. The method according to claim 12, wherein, Determining the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal includes: Based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal, determine the transmission delay between the ground station and the first satellite.

14. The method according to claim 13, wherein, Sending a first measurement signal to the first satellite and receiving the first feedback signal sent by the first satellite includes: Send the first measurement signal to the first satellite and record the first time information when the ground station sends the first measurement signal; Receive the first feedback signal sent by the first satellite and record the fourth time information when the ground station receives the first feedback signal; The method further includes: Receive the second time information when the first satellite receives the first measurement signal and the third time information when the first satellite sends the first feedback signal sent by the first satellite.

15. A satellite-ground clock synchronization method, wherein, Applied to the second satellite, including: Receiving a second measurement signal sent by the first satellite and sending a second feedback signal to the first satellite; Determining a transmission delay between the second satellite and the first satellite based on the time information of the second measurement signal and the time information of the second feedback signal; Determining a clock deviation of the second satellite based on the transmission delay between the second satellite and the first satellite; Adjusting the clock of the second satellite based on the clock deviation of the second satellite; Wherein, the clock of the first satellite is calibrated.

16. A satellite-ground clock synchronization method, wherein, Applied to the relay satellite, including: Receiving a first measurement signal sent by a ground station and forwarding the first measurement signal to the first satellite; Receiving a first feedback signal sent by the first satellite and forwarding the first feedback signal to the ground station; Wherein, the time information of the first measurement signal and the time information of the first feedback signal are used to determine a transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine a clock deviation of the first satellite.

17. A satellite-ground clock synchronization device, wherein, Including a memory, a transceiver, and a processor: The memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Receiving a first measurement signal sent by a ground station and sending a first feedback signal to the ground station; Determining a transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal; Determining a clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite; Adjusting the clock of the first satellite based on the clock deviation of the first satellite.

18. The device according to claim 17, wherein, The processor is used to execute: Determining a transmission delay between the ground station and the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, the third time information when the first satellite sends the first feedback signal, and the fourth time information when the ground station receives the first feedback signal.

19. The device according to claim 18, wherein, The processor is used to execute: Receiving the first measurement signal sent by the ground station and recording the second time information when the first satellite receives the first measurement signal; Sending the first feedback signal to the ground station and recording the third time information when the satellite sends the first feedback signal; And, Receiving the first time information when the ground station sends the first measurement signal and the fourth time information when the ground station receives the first feedback signal sent by the ground station.

20. The device according to claim 18, wherein, The processor is used to execute: Determining a clock deviation of the first satellite based on the first time information when the ground station sends the first measurement signal, the second time information when the first satellite receives the first measurement signal, and the transmission delay between the ground station and the first satellite; Or, Determine the clock deviation of the first satellite based on the third time information of the first feedback signal sent by the first satellite, the fourth time information of the first feedback signal received by the ground station, and the transmission delay between the ground station and the first satellite.

21. The device according to claim 17, wherein, The processor is configured to execute: Adjust the clock frequency of the first satellite or adjust the time value of the first satellite based on the clock deviation of the first satellite.

22. The device according to claim 17, wherein, The processor is configured to execute: Send a second measurement signal to the second satellite and receive a second feedback signal sent by the second satellite. The time information of the second measurement signal and the time information of the second feedback signal are used to determine the transmission delay between the first satellite and the second satellite, and the transmission delay between the first satellite and the second satellite is used to determine the clock deviation of the second satellite.

23. The device according to claim 17, wherein, The processor is configured to execute: Receive the first measurement signal sent by the ground station through the relay satellite and send the first feedback signal to the ground station through the relay satellite; And, Determine the transmission delay between the ground station and the first satellite based on the first time information of the ground station sending the first measurement signal, the fifth time information of the relay satellite receiving the first measurement signal, the sixth time information of the relay satellite sending the first measurement signal, the second time information of the first satellite receiving the first measurement signal, the third time information of the first satellite sending the first feedback signal, the seventh time information of the relay satellite receiving the first feedback signal, the eighth time information of the relay satellite sending the first feedback signal, and the fourth time information of the ground station receiving the first feedback signal.

24. The device according to any one of claims 17 - 23, wherein, The time information of the first measurement signal and the time information of the first feedback signal are recorded by the physical layer hardware of the ground station and the first satellite.

25. The device according to any one of claims 17 - 23, wherein, The time information is Coordinated Universal Time or frame number.

26. The device according to any one of claims 17 - 23, wherein, The first measurement signal includes the identifier of the first satellite.

27. A satellite - ground clock synchronization device, wherein, Including a memory, a transceiver, and a processor: The memory is used to store computer programs; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer programs in the memory and execute the following operations: Send a first measurement signal to the first satellite and receive a first feedback signal sent by the first satellite; Determine the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal; Determine the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite; Determine the number of calibration times based on the clock deviation of the first satellite, and repeat sending the first measurement signal to the first satellite based on the number of calibration times.

28. The device according to claim 27, wherein, The magnitude of the clock deviation of the first satellite is positively correlated with the magnitude of the number of calibration times.

29. The device according to claim 28, wherein, The processor is configured to execute: Determine the transmission delay between the ground station and the first satellite based on the first time information of the ground station sending the first measurement signal, the second time information of the first satellite receiving the first measurement signal, the third time information of the first satellite sending the first feedback signal, and the fourth time information of the ground station receiving the first feedback signal.

30. The device according to claim 29, wherein, The processor is configured to execute: Send the first measurement signal to the first satellite and record the first time information of the ground station sending the first measurement signal; Receive the first feedback signal sent by the first satellite and record the fourth time information of the ground station receiving the first feedback signal; And, Receive the second time information of the first satellite receiving the first measurement signal and the third time information of the first satellite sending the first feedback signal sent by the first satellite.

31. A space - to - ground clock synchronization device, characterized in that, Comprising a memory, a transceiver, and a processor: The memory is used to store computer programs; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: Receive the second measurement signal sent by the first satellite and send a second feedback signal to the first satellite; Determine the transmission delay between the second satellite and the first satellite based on the time information of the second measurement signal and the time information of the second feedback signal; Determine the clock deviation of the second satellite based on the transmission delay between the second satellite and the first satellite; Adjust the clock of the second satellite based on the clock deviation of the second satellite; Wherein, the clock of the first satellite is calibrated.

32. A space - to - ground clock synchronization device, characterized in that, Comprising a memory, a transceiver, and a processor: The memory is used to store computer programs; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: Receive the first measurement signal sent by the receiving ground station and forward the first measurement signal to the first satellite; Receive the first feedback signal sent by the first satellite and forward the first feedback signal to the ground station; Wherein, the time information of the first measurement signal and the time information of the first feedback signal are used to determine the transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine the clock deviation of the first satellite.

33. A space - to - ground clock synchronization device, characterized in that, Applied to the first satellite, including: A transceiver unit, configured to receive the first measurement signal sent by the ground station and send a first feedback signal to the ground station; A first determination unit, configured to determine the transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal; A second determination unit, configured to determine the clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite; An adjustment unit, configured to adjust the clock of the first satellite based on the clock deviation of the first satellite.

34. A space - to - ground clock synchronization device, characterized in that, Applied to the ground station, including: A first transceiver unit, configured to send a first measurement signal to the first satellite and receive the first feedback signal sent by the first satellite; A first determination unit, configured to determine a transmission delay between the ground station and the first satellite based on the time information of the first measurement signal and the time information of the first feedback signal; A second determination unit, configured to determine a clock deviation of the first satellite based on the transmission delay between the ground station and the first satellite; A second transceiver unit, configured to determine a calibration number based on the clock deviation of the first satellite, and repeatedly execute sending the first measurement signal to the first satellite based on the calibration number.

35. A space - to - ground clock synchronization device, characterized in that, Applied to a second satellite, including: A transceiver unit, configured to receive a second measurement signal sent by the first satellite and send a second feedback signal to the first satellite; A first determination unit, configured to determine a transmission delay between the second satellite and the first satellite based on the time information of the second measurement signal and the time information of the second feedback signal; A second determination unit, configured to determine a clock deviation of the second satellite based on the transmission delay between the second satellite and the first satellite; An adjustment unit, configured to adjust the clock of the second satellite based on the clock deviation of the second satellite; Wherein, the clock of the first satellite is calibrated.

36. A space - to - ground clock synchronization device, characterized in that, Applied to a relay satellite, including: A first transceiver unit, configured to receive a first measurement signal sent by the ground station and forward the first measurement signal to the first satellite; A second transceiver unit, configured to receive the first feedback signal sent by the first satellite and forward the first feedback signal to the ground station; Wherein, the time information of the first measurement signal and the time information of the first feedback signal are used to determine a transmission delay between the first satellite and the ground station, and the transmission delay between the first satellite and the ground station is used to determine a clock deviation of the first satellite.

37. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the method according to any one of claims 1 to 16.

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