Multi-station clock taming method and device and computer equipment

Abstract

The invention discloses a multi-station clock taming method and device and computer equipment, and relates to the technical field of radio detection. A plurality of receiving stations receive signals sent by the same civil radiation source at the same time, each receiving station carries out frame synchronization capture on the received signals, and the actual sampling point number of each receiving station in M frame periods is determined; the received signal is a signal directly radiated by a civil radiation source; each receiving station determines the sampling point deviation of the receiving station according to the actual sampling point number and the expected sampling point number of the receiving station; the clock skew of the corresponding receiving station is determined through the sampling point deviation of each receiving station; the clock skew is used for adjusting the clocks of the corresponding receiving stations, so that the clocks of the receiving stations are kept consistent with the used civil radiation source clocks, and multi-station clock taming is realized.

Description

Technical Field

[0001] The present invention relates to the field of radio detection technology, and in particular to a multi-station clock taming method, device and computer equipment. Background Art

[0002] Time Difference of Arrival (TDOA) technology uses the propagation time of radio signals for positioning. Its core principle is to measure the difference in arrival times of the same signal at different receiving stations. By accurately measuring these time differences and combining them with geometric principles, the location of the transmitting source can be determined.

[0003] In practical applications, TDOA positioning technology faces a challenge: each receiving station uses its own independently running hardware and system clock, resulting in asynchronous sampling clocks. This affects the accuracy of the time difference of arrival calculation, and thus positioning accuracy. Furthermore, in a multi-static radar network, if the multi-station time synchronization is precise, the bistatic ellipses formed by each unit receiving station and the illumination source intersect at a point, and the target can be accurately located. However, if there is a deviation in the multi-station time synchronization, the bistatic ellipses formed by each unit receiving station and the illumination source do not intersect at a point. Instead, the ellipses intersect with each other to form a target area, resulting in inaccurate target positioning.

[0004] Therefore, in TDOA positioning, multistatic radar networking, and other multi-station positioning methods, it is crucial to ensure that the sampling clocks of all receiving stations are synchronized. Summary of the Invention

[0005] Based on this, it is necessary to provide a multi-station clock training method, device and computer equipment to address the above technical problems. This method can eliminate the clock errors of multiple receiving stations, thereby achieving accurate positioning.

[0006] The present invention adopts the following technical solutions:

[0007] The present invention provides a multi-station clock taming method, comprising:

[0008] Control multiple receiving stations to simultaneously receive signals from the same civilian radiation source;

[0009] Frame synchronization capture of the received signal is performed at each receiving station to determine the actual number of sampling points at each receiving station within the M frame period; the received signal is a signal directly radiated by a civilian radiation source;

[0010] Determine the sampling point bias for each receiving station based on the actual number of sampling points and the expected number of sampling points at each receiving station;

[0011] The clock frequency deviation of the corresponding receiving station is determined by the deviation of each sampling point, and the clock of the corresponding receiving station is adjusted by the clock frequency deviation so that the clock of each receiving station is consistent with the clock of the civilian radiation source used to achieve clock taming.

[0012] Preferably, the civilian radiation source is an external radiation source with a known frequency and a transmitted signal having a frame structure with a determined time.

[0013] Preferably, performing frame synchronization capture on the received signal to determine the actual number of sampling points of each receiving station within M frame periods includes:

[0014] For any receiving station, the starting position of the frame header sequence of the digital TV signal is continuously slid, and the correlation coefficient between the frame header sequence and the received signal after each slide is calculated;

[0015] When the correlation coefficient is greater than a preset threshold, determining the frame header position of the received signal according to the frame header sequence corresponding to the correlation coefficient greater than the preset threshold;

[0016] According to the frame header position, the actual number of sampling points within the M frame periods is recorded by a counter.

[0017] Preferably, determining the sampling point deviation of each receiving station according to the actual number of sampling points and the expected number of sampling points of each receiving station comprises:

[0018] For any receiving station, obtain the difference between the actual number of sampling points and the expected number of sampling points;

[0019] The ratio of the absolute value of the difference to the expected number of sampling points is determined as the sampling point bias of the receiving station.

[0020] Preferably, adjusting the clock of the corresponding receiving station by using the clock frequency deviation includes:

[0021] The frequency deviation is input into the phase-locked loop circuit so that the phase-locked loop circuit adjusts the output frequency or phase according to the frequency deviation.

[0022] Preferably, adjusting the clock of the corresponding receiving station by using the clock frequency deviation includes:

[0023] A frequency word is calculated according to the clock frequency deviation, and the frequency word is input into the digital controlled crystal oscillator, so that the digital controlled crystal oscillator adjusts the output frequency according to the frequency word.

[0024] The present invention provides a multi-station clock taming device, which includes:

[0025] A receiving module is used to control multiple receiving stations to simultaneously receive signals from the same civilian radiation source;

[0026] The analysis module is used to perform frame synchronization capture of the received signal at each receiving station and determine the actual number of sampling points of each receiving station within the M frame period; the received signal is a signal directly radiated by a civilian radiation source;

[0027] a determination module for determining a sampling point deviation of each receiving station based on an actual number of sampling points and an expected number of sampling points at each receiving station;

[0028] The adjustment module is used to determine the clock frequency deviation of the corresponding receiving station through the deviation of each sampling point, and adjust the clock of the corresponding receiving station according to the clock deviation so that the clock of each receiving station is consistent with the clock of the civilian radiation source used to achieve clock taming.

[0029] The present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the multi-station clock taming method is implemented.

[0030] The present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the multi-station clock taming method is implemented.

[0031] At least one of the above technical solutions adopted by the present invention can achieve the following beneficial effects:

[0032] In the present invention, multiple receiving stations simultaneously receive signals from the same civilian radiation source, and then frame synchronization capture is performed on the received signal of each receiving station to obtain the sampling point deviation of each receiving station. Then, based on the sampling point deviation, the clock deviation of each receiving station is calculated, and the clock of each receiving station is adjusted according to the clock deviation. In this way, the clock errors of multiple receiving stations can be eliminated, so that the clock of each receiving station is consistent with the clock of the civilian radiation source used, thereby achieving clock taming. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0034] Figure 1 A GPS taming clock flow chart;

[0035] Figure 2 A schematic flow chart of a multi-station clock taming method provided by the present invention;

[0036] Figure 3 This is a schematic diagram of the data frame structure of a civilian radiation source;

[0037] Figure 4Three frame header modes and structure diagrams for data frames of civilian radiation sources;

[0038] Figure 5 A schematic diagram of a process for taming a clock in a digital television provided by the present invention;

[0039] Figure 6 A schematic flow chart of another multi-station clock taming method provided by the present invention;

[0040] Figure 7 A schematic structural diagram of a TDOA system provided by the present invention;

[0041] Figure 8 Schematic diagram of the change of correlation coefficient with the same clock frequency;

[0042] Figure 9 Schematic diagram of the change of correlation coefficient at different clock frequencies;

[0043] Figure 10 A schematic diagram of a multi-station clock taming device provided by the present invention;

[0044] Figure 11 A schematic diagram of a computer device for implementing a multi-station clock taming method provided by the present invention.

[0045] Description of reference numerals:

[0046] 101. Satellite; 102. Antenna; 103. GPS timing receiver; 104. Time interval measurement module; 105. Main control and data processing module; 106. Digital-to-analog converter; 107. Clock generation module;

[0047] 201. Civilian radiation source; 202. Target drone; 203. Detection system. DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] In the prior art, in order to improve the accuracy of positioning and address the sampling clock problem, various multi-station clock training methods have been proposed. Currently, traditional training methods include Global Positioning System (GPS) clock training and atomic clock training. The most commonly used method is to use a GPS module for clock training, such as Figure 1 As shown, Figure 1 This is a flowchart of a GPS disciplined clock, including: satellite 101, antenna 102, GPS timing receiver 103, time interval measurement module 104, main control and data processing module 105, digital-to-analog converter 106, and clock generation module 107. The GPS module receives and filters radio frequency signals, then down-converts them to an intermediate frequency for digital signal processing, generating a one-pulse-per-second (1PPS) signal. Its advantages include strong global coverage and the ability to provide all-weather, real-time, high-precision time synchronization services. However, due to satellite signal propagation delays in complex environments, GPS module hardware processing time, and the Doppler effect caused by the relative motion between the receiver and satellite, the GPS module itself can have errors of 50 to 100 ns. This results in inconsistent sampling clocks between the receiving stations in a TDOA system, resulting in inaccurate time delays and significant deviations in TDOA positioning accuracy. Atomic clocks are currently the most accurate clock type and are suitable for positioning systems requiring extremely high precision. However, it is expensive and complex to maintain, and is bulky and heavy, making it unsuitable for mobile devices.

[0050] To address the challenges of traditional multi-station clock training methods, a multi-station clock training method based on TDOA (TDOA) using civilian digital radio sources is proposed. Using civilian radio sources for TDOA clock training offers enhanced availability, immunity to environmental and human interference, and relatively low cost, eliminating the need for expensive atomic clocks or complex GPS equipment. Civilian radio sources (such as Digital Audio Broadcasting (DAB) and Digital Video Broadcasting (DVB)) have wide signal coverage and can achieve synchronization over a wide range. This is particularly useful for applications requiring time synchronization over a wide range (TDOA operating frequencies typically range from 30 MHz to 6 GHz, which falls within this range). Furthermore, the transmission time and frequency of civilian radio sources are typically specified by national or international standards organizations, making them highly accurate and stable. Furthermore, civilian radio sources have a fixed, periodic frame structure that is synchronized with natural time, enabling highly accurate time synchronization.

[0051] The technical solutions provided by various embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0052] Figure 2 The flowchart of a multi-station clock training method in the present invention specifically includes the following steps:

[0053] S201, controlling multiple receiving stations to simultaneously receive signals from the same civilian radiation source.

[0054] The civilian radiation source may be digital audio broadcasting DAB, digital television DVB, etc. The civilian radiation source is an external radiation source with a known frequency and a transmitted signal having a frame structure with a certain time.

[0055] Multiple receiving stations simultaneously receive signals from the same civilian radiation source, including: the receiving stations each receive the radio signal for a period of time.

[0056] S202 , performing frame synchronization capture on a received signal at each receiving station to determine the actual number of sampling points at each receiving station within M frame periods; the received signal is a signal directly radiated by a civilian radiation source.

[0057] The civilian radiation source continuously radiates radio signals, and the receiving station receives the radio signals radiated by it as the receiving signals of the corresponding receiving station.

[0058] Among them, the signal emitted by the civil radiation source is a special signal frame structure with a fixed transmission time, such as Figure 3 As shown in Figure 1, DTTB signals are sent in the form of frames, with 8 superframes sent per second and a superframe duration of 125ms. There are three frame header modes, such as Figure 4 As shown, each mode has a fixed duration.

[0059] Therefore, frame synchronization capture is performed on the received signal to determine the actual number of sampling points within M frame periods at each receiving station. This includes: for any receiving station, continuously sliding the starting position of the frame header sequence of the digital television signal, and calculating the correlation coefficient between the frame header sequence and the received signal after each slide; when the correlation coefficient is greater than a preset threshold, determining the frame header position of the received signal based on a noise sequence corresponding to the correlation coefficient greater than the preset threshold; and recording the actual number of sampling points within M frame periods using a counter based on the frame header position.

[0060] The frame header sequence of the digital television signal may be a frame header structure using a pseudo-random noise (PN) sequence as a synchronization identifier.

[0061] For any receiving station, the frame header is detected by utilizing the particularity of the signal frame, and the received signal is subjected to sliding correlation detection with the frame header sequence of the digital TV signal. The threshold is set to detect the peak value, and the position corresponding to each amplitude peak is the starting position of the frame header.

[0062] For specific implementation, please continue to refer to Figure 4 ,Civilian radiation sources have a fixed frame structure, and the signal frame structure is periodic;,the frame header sequence has good autocorrelation, and the frame header sequence is used to perform sliding correlation detection with the received signal.

[0063] First, the received signal is correlated with the frame header sequence to obtain a correlation coefficient. Then, the starting position of the frame header sequence is continuously slid according to a preset sliding window, and the correlation coefficient is repeatedly calculated.

[0064] The correlation coefficient is used to measure the matching degree between the received signal r(t) and the frame header sequence p(t). It is calculated as follows:

[0065]

[0066] where τ is the time delay.

[0067] In practical applications, the received signal and frame header sequence are both discrete, and the discretized correlation coefficient can be calculated using the following formula:

[0068]

[0069] Where k is a different time delay value and N is the length of the received signal.

[0070] To determine the starting position of the frame header, a threshold is set to detect the peak of the correlation coefficient. When the correlation coefficient exceeds the threshold, the frame header of the received signal has been located. Based on the fixed structure of the signal frame, the number of sampling points in M ​​frame periods is counted. Therefore, once the frame header is located, the system knows the starting position of the frame. From the starting position of the frame, the receiving station can then use a counter to record the number N of sampling points within M frame periods.

[0071] S203 : Determine the sampling point deviation of each receiving station according to the actual number of sampling points and the expected number of sampling points of each receiving station.

[0072] For each receiving station, the sampling point bias is determined based on the actual number of sampling points at the receiving station and the expected number of sampling points. The sampling point bias reflects the degree of clock bias and therefore requires processing. The sampling point bias is obtained by comparing the actual number of sampling points with the expected number of sampling points. Determining the sampling point bias for each receiving station based on the actual number of sampling points and the expected number of sampling points involves: for each receiving station, obtaining the difference between the actual number of sampling points and the expected number of sampling points; and determining the sampling point bias for the receiving station as the ratio of the absolute value of this difference to the expected number of sampling points.

[0073] As shown in formula (3).

[0074]

[0075] Among them, δ N is the sampling point deviation, N1 is the actual number of sampling points obtained by the counter, and N is the expected number of sampling points.

[0076] S204 , determining the clock frequency deviation of the corresponding receiving station through the deviation of each sampling point, and adjusting the clock of the corresponding receiving station through the clock frequency deviation, so that the clock of each receiving station is consistent with the clock of the civilian radiation source used, thereby achieving clock taming.

[0077] The method of determining the clock frequency deviation of the corresponding receiving station by the deviation of each sampling point specifically includes: assuming that the sampling clock is 1MHz, then there should be 1×10 6 Sampling points, if the actual number of sampling points is 999999, then the sampling point deviation The corresponding clock frequency deviation is Similarly, if the sampling clock is 1 MHz, there should be 2×10 6 Sampling points, if the actual number of sampling points is 1999999, then the sampling point deviation The corresponding clock frequency deviation is If there should be 1×10 6 sampling points, then the theoretical clock frequency should be 1MHz. If the actual sampling points are 999999, then the sampling point deviation The corresponding clock frequency deviation is

[0078] During the training process, since the frame structure of the civilian radiation source is fixed, the number of sampling points per second at the receiving station should be consistent with the signal sent by the civilian radiation source. If they are inconsistent, the frequency deviation is determined by the sampling point deviation.

[0079] In an exemplary embodiment, adjusting the clock of the corresponding receiving station by using the clock frequency deviation includes: inputting the frequency deviation into a phase-locked loop circuit, so that the phase-locked loop circuit adjusts the output frequency or phase by using the frequency deviation.

[0080] A phase-locked loop (PLL) circuit uses a phase frequency detector (PFD), a low-pass filter, and a voltage-controlled oscillator (VCO) to output a fixed-frequency clock signal. Once the sampling point deviation is determined, the desired output frequency is also determined. The PFD then outputs an AC signal, which is converted to a DC signal through a low-pass filter. This DC signal is then input into a VCO, which then outputs a signal at the corresponding frequency.

[0081] A digitally controlled crystal oscillator (DCXO) can also be used to adjust the output frequency. For example, the clock of the corresponding receiving station is adjusted by the clock frequency deviation, including: calculating the frequency word according to the clock frequency deviation, and inputting the frequency word into the digitally controlled crystal oscillator so that the digitally controlled crystal oscillator adjusts the output frequency through the frequency word.

[0082] When using a DCXO, the frequency deviation needs to be calculated based on the sampling point deviation. For example, in 1 second, the theoretical number of sampling points is 1000, and the actual sampling points are 1001. The theoretical sampling rate is 1000Hz, and the actual sampling rate is 1001Hz. In this case, the frequency control word needs to be multiplied by 1000 / 1001 to obtain the adjusted frequency word. After the frequency word is calculated, the control word acts on the oscillation starting circuit, and the output frequency of the crystal oscillator can be adjusted by changing the capacitance of the oscillation starting circuit.

[0083] In an exemplary embodiment, Figure 5 As shown, Figure 5 Flowchart for clock taming for digital TV: First, receive the digital TV signal, then find the frame header of the digital TV signal through the correlation coefficient and record the number of sampling points in M ​​frames. If the difference is greater than or equal to one sampling point, control the PLL or DCXO to adjust the clock frequency. Otherwise, adjust the number of frames to be observed M, continue to receive the digital TV signal and sample, and repeat the above process.

[0084] In an exemplary embodiment, the present invention also provides a multi-station clock training method, such as Figure 6 As shown, this embodiment includes the following steps:

[0085] S601: Each receiving station simultaneously receives a signal from the same civilian radiation source.

[0086] S602: Each receiving station uses the frame header sequence of the digital television signal to find the frame header position of the received signal.

[0087] S603: Record the actual number of sampling points in the M frames from the frame header position.

[0088] S604: Compare the actual number of sampling points with the expected number of sampling points, determine the sampling point deviation, and perform normalization processing.

[0089] S605: Input the sampling point deviation into the PLL or DCXO for clock adjustment.

[0090] like Figure 7As shown, a TDOA system is provided, including a civilian radiation source 201, a target UAV 202, and multiple detection systems 203. The multiple detection systems 203 each include a receiving station that can directly receive signals from the civilian radiation source to perform clock training on the multiple detection systems 203, and can also locate the target UAV through the multiple detection systems 203. It should be noted that Figure 7 The diagram shows three detection systems, but in actual applications, the number of detection systems is not limited and can be set according to actual conditions.

[0091] like Figure 8 and Figure 9 As shown, Figure 8 This is a schematic diagram of the change of the correlation coefficient with the same clock frequency. Figure 9 Schematic diagram of the change of correlation coefficient with different clock frequencies.

[0092] When a receiving station in a TDOA system receives a target signal, it copies the sample to other stations for correlation processing. If the other stations also detect the signal, they perform subsequent positioning calculations. When the sampling clocks of the TDOA stations deviate, the correlation calculations are ineffective, and the correlation peak decreases. When the TDOA clocks are tamed, the sampling clocks of the TDOA stations are consistent, resulting in a higher correlation peak during correlation processing, facilitating subsequent positioning and improving positioning accuracy.

[0093] When applying the multi-station clock training method provided by the present invention, it is not necessary to Figure 2 The steps are executed in the order shown. The specific execution order of the steps can be determined according to needs, and the present invention does not limit this.

[0094] The above is a multi-station clock training method provided by one or more embodiments of the present invention. Based on the same idea, the present invention also provides a corresponding clock training device, such as Figure 10 shown.

[0095] Figure 10 This is a schematic diagram of a multi-station clock taming device provided by the present invention. The device 1000 includes:

[0096] Receiving module 1001, used to control the receiving stations to simultaneously receive signals from the same civilian radiation source;

[0097] The analysis module 1002 is configured to perform frame synchronization capture of the received signal at each receiving station to determine the actual number of sampling points at each receiving station within a preset time period; the received signal is a signal directly radiated by a civilian radiation source;

[0098] A determination module 1003 is configured to determine a sampling point deviation of each receiving station based on the actual number of sampling points and the expected number of sampling points of each receiving station;

[0099] The adjustment module 1004 is used to determine the clock deviation of the corresponding receiving station based on the deviation of each sampling point. The clock deviation is used to adjust the clock of the corresponding receiving station so that the clock of each receiving station is consistent with the clock of the civilian radiation source used, thereby achieving clock taming.

[0100] The specific definition of the clock training device can be found in the definition of the multi-station clock training method above and will not be repeated here. Each module in the clock training device described above can be implemented in whole or in part via software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0101] The present invention also provides Figure 11 The structural diagram of the computer equipment shown in FIG. Figure 11 As shown in the figure, at the hardware level, the computer device includes an antenna, ADC, processor, and PLL or DCXO, and may also include other hardware required for the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 2 Provides multi-station clock taming methods.

[0102] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0103] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present invention.

Claims

1. A multi-station clock training method, characterized in that: The method comprises: Control multiple receiving stations to simultaneously receive signals from the same civilian radiation source; Performing frame synchronization capture on a received signal at each receiving station to determine the actual number of sampling points at each receiving station within M frame periods; the received signal is a signal directly radiated by the civilian radiation source; Determine the sampling point bias for each receiving station based on the actual number of sampling points and the expected number of sampling points at each receiving station; The clock frequency deviation of the corresponding receiving station is determined by the deviation of each sampling point, and the clock of the corresponding receiving station is adjusted by the clock deviation to make the clock of each receiving station consistent with the clock of the civilian radiation source used to achieve clock taming.

2. The method according to claim 1, characterized in that The civilian radiation source is an external radiation source with a known frequency and a transmitted signal having a frame structure with a determined time.

3. The method according to claim 1, characterized in that Perform frame synchronization capture on the received signal to determine the actual number of sampling points of each receiving station within the M frame period, including: For any receiving station, the starting position of the frame header sequence of the digital television signal is continuously slid, and the correlation coefficient between the frame header sequence and the received signal after each sliding is calculated; When the correlation coefficient is greater than a preset threshold, determining a frame header position of the received signal according to a frame header sequence corresponding to the correlation coefficient greater than the preset threshold; According to the frame header position, the actual number of sampling points in the M frame periods is recorded by a counter.

4. The method according to claim 1, wherein Determining the sampling point deviation of each receiving station based on the actual number of sampling points and the expected number of sampling points at each receiving station includes: For any receiving station, obtaining a difference between the actual number of sampling points and the expected number of sampling points; The ratio of the absolute value of the difference to the expected number of sampling points is determined as the sampling point deviation of the receiving station.

5. The method according to claim 1, wherein The adjusting the clock of the corresponding receiving station by using the clock frequency deviation includes: The frequency deviation is input into a phase-locked loop circuit, so that the phase-locked loop circuit adjusts the output frequency or phase according to the frequency deviation.

6. The method according to claim 1, characterized in that The adjusting the clock of the corresponding receiving station by using the clock frequency deviation includes: A frequency word is calculated according to the clock frequency deviation, and the frequency word is input into a digitally controlled crystal oscillator, so that the digitally controlled crystal oscillator adjusts the output frequency according to the frequency word.

7. A multi-station clock training device, characterized in that: include: A receiving module is used to control multiple receiving stations to simultaneously receive signals from the same civilian radiation source; An analysis module is configured to perform frame synchronization capture of a received signal at each receiving station to determine the actual number of sampling points at each receiving station within M frame periods; the received signal is a signal directly radiated by the civilian radiation source; a determination module for determining a sampling point deviation of each receiving station based on an actual number of sampling points and an expected number of sampling points at each receiving station; The adjustment module is used to determine the clock frequency deviation of the corresponding receiving station through the deviation of each sampling point, and adjust the clock of the corresponding receiving station according to the clock deviation so that the clock of each receiving station is consistent with the clock of the civilian radiation source used to achieve clock taming.

8. A computer device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

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