Time reference cross-domain transmission device and cross-domain transmission method thereof

Abstract

The invention relates to the technical field of time synchronization transmission, in particular to a time reference cross-domain transmission device and a cross-domain transmission method thereof. Comprising a water surface receiving and transmitting module, an underwater receiving and transmitting module, an atomic clock group, a power supply module, a control circuit and a suspension module, wherein the power supply module and the control circuit are connected with the water surface receiving and transmitting module, the underwater receiving and transmitting module, the atomic clock group and the suspension module; the water surface receiving and transmitting module and the underwater receiving and transmitting module are used for receiving and transmitting water surface and underwater time reference signals and completing calculation of the time reference signals at the same time. The power supply module supplies power to the device; the control circuit is used for controlling the device to work; and the suspension module is used for controlling the floating and diving depths of the device in water. According to the invention, high reliability and stability of the system are ensured through multi-atomic clock combined punctuality; through dynamic traceability, the influence of an abnormal external signal on a time reference signal is reduced, the robustness and accuracy of the system are improved, cross-domain high-precision transmission of the time reference is completed, and the time synchronization requirement of an underwater unit is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of time synchronization transmission, in particular to a time reference cross-domain transmission device and a cross-domain transmission method thereof. BACKGROUND

[0002] With the continuous development of marine resource exploration, deep sea search and rescue and other marine industries, people's demand for intelligent and unmanned underwater vehicles is increasing. Intelligent and unmanned underwater vehicles can reduce the difficulty of underwater operation and improve the accuracy and reliability of various underwater operations. High-precision time reference is one of the basic prerequisites for efficient and normal operation of intelligent and unmanned underwater vehicles, and is a technical problem that cannot be avoided. There is a lack of time reference infrastructure in the marine area in the prior art. Due to the sharp attenuation of electromagnetic wave signals in seawater, the underwater time synchronization accuracy is much lower than that on land. The existing technology is difficult to realize the cross-medium time reference transmission between land, space, sky and ocean. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a time reference cross-domain transmission device and a cross-domain transmission method thereof, which guarantees high reliability and stability by multi-atomic clock joint time keeping; reduces the influence of abnormal external signals on the time reference signal through dynamic tracing, improves the robustness and accuracy of the system, completes the cross-domain high-precision transmission of the time reference, and meets the time synchronization demand of underwater units.

[0004] The present application provides a time reference cross-domain transmission device, comprising: a water surface receiving and transmitting module, an underwater receiving and transmitting module, an atomic clock group, a power module, a control circuit and a suspension module: The power module is connected with the water surface receiving and transmitting module, the underwater receiving and transmitting module, the atomic clock group and the suspension module; The control circuit is connected with the water surface receiving and transmitting module, the underwater receiving and transmitting module, the atomic clock group and the suspension module; The water surface receiving and transmitting module is used for receiving the time reference signal transmitted above the water surface; The underwater receiving and transmitting module is used for receiving the time reference signal transmitted below the water surface and completing the calculation of the time reference signal; The power module is used for supplying power to the water surface receiving and transmitting module, the underwater receiving and transmitting module, the atomic clock group and the suspension module; The control circuit contains a control algorithm for controlling the operation of the water surface receiving and transmitting module, the underwater receiving and transmitting module, the atomic clock group, the power module and the suspension module; The suspension module is used for controlling the floating and diving depth of the device in water.

[0005] The time reference cross-domain transmission device comprises a water surface receiving module, a water surface transmitting module, a water underwater receiving module, a water underwater transmitting module and a control circuit. The telescopic integrated antenna is connected with the satellite navigation receiver. The telescopic integrated antenna is connected with the radio receiver. The telescopic integrated antenna is used for receiving a time reference signal and converting the time reference signal into a satellite radio frequency signal processed by the satellite navigation receiver and a radio station radio frequency signal processed by the radio receiver. The satellite navigation receiver is used for processing the satellite radio frequency signal and completing calculation of a satellite time reference signal. The radio receiver is used for processing the radio station radio frequency signal and completing calculation of a radio station time reference signal.

[0006] The time reference cross-domain transmission device comprises a water surface receiving module, a water surface transmitting module, a water underwater receiving module, a water underwater transmitting module and a control circuit. The water acoustic receiving device is connected with the control circuit. The laser receiving device is connected with the control circuit. The water acoustic receiving device is used for receiving and transmitting a water acoustic time reference signal and completing calculation of a time reference signal. The laser receiving device is used for receiving and transmitting a laser time reference signal and completing calculation of a time reference signal.

[0007] The time reference cross-domain transmission device comprises a water surface receiving module, a water surface transmitting module, a water underwater receiving module, a water underwater transmitting module and a control circuit. When the device is in the water surface floating state, the device receives satellite and radio time reference signals on the water surface and underwater water acoustic time reference signals and laser time reference signals. When the device is in the water diving state, the device receives water acoustic and laser time reference signals and periodically floats to receive satellite signals to calibrate deviation.

[0008] The time reference cross-domain transmission device comprises a water surface receiving module, a water surface transmitting module, a water underwater receiving module, a water underwater transmitting module and a control circuit. When the device is in the external synchronization mode, the device is used for receiving external time reference signals and taming a local atomic clock group, and the atomic clock group generates a local time reference in cooperation with the control circuit. When the device is in the self-keeping time mode, the device is used for receiving external time reference signals but not taming a local atomic clock group, and the atomic clock group generates a local time reference in cooperation with the control circuit.

[0009] According to a time reference cross-domain transmission device provided by the present invention, the transmitted time reference signals are PPS (Pulse Per Second) and TOD (Time of Day).

[0010] According to a time reference cross-domain transmission device provided by the present invention, the atomic clock group is composed of more than or equal to three high-precision frequency reference atomic clocks, and the atomic clocks include one or more of rubidium atomic clocks, cesium atomic clocks and hydrogen atomic clocks.

[0011] The present invention also provides a cross-domain transmission method of a time reference cross-domain transmission device, comprising the following steps: S1: regularly monitoring the historical data of the short-term stability, abnormal jump rate, and phase noise of the atomic clocks in the atomic clock group, monitoring the faulty atomic clocks in real time, and reintegrating the faulty atomic clocks with qualified monitoring results into the joint timekeeping category to obtain the joint timekeeping atomic clock; S2: Calculating a comprehensive score based on historical data of the joint timekeeping atomic clock; S3: Allocate dynamic weights to the atomic clocks based on the comprehensive score, use a weighted average algorithm to generate the main time scale of the atomic clock group, and cooperate with the control circuit to generate PPS and TOD time reference signals.

[0012] The present invention also provides a cross-domain transfer method for a time base cross-domain transfer device, wherein the short-term stability determination method is to use the overlapping Allan variance to determine the short-term stability. Evaluation, the formula is: in, is the total number of data samples, is the number of data in each group, is the sampling time, for First in time Sampling deviation, is the ordinal number of the grouped data, for First Sampling deviation.

[0013] The present invention also provides a cross-domain transmission method of a time reference cross-domain transmission device. When the quality of an external clock reference signal decreases, a dynamic tracing method is used to adjust the working mode. The steps of the dynamic tracing method are as follows: S11: The device in the default state is set to the external synchronization mode, and the external time reference signal is received and monitored in real time; S12: The device compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is inferior to that of the local atomic clock group reaches a fixed time length, the device switches to a self-keeping time mode, stops the domestication of the external signal to the local atomic clock group, or remains in the current posture to monitor the received external time reference signal; S13: The device compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is inferior to that of the local atomic clock group reaches a fixed time length, the device switches the posture by using a suspension control device, receives and monitors the external time reference signal of another posture; S14: The device compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is superior to that of the local atomic clock group reaches a fixed time length, the device switches to an external synchronization mode, starts the domestication of the external signal to the local atomic clock group, and after maintaining the posture domestication synchronization for a set time, switches to a default posture to repeat S11, or repeats S13.

[0014] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects: The time reference cross-domain delivery device and the cross-domain delivery method provided by the present application can ensure high reliability and stability through multi-atomic clock joint time keeping, the device can reduce the influence of abnormal external signals on the time reference signal through dynamic tracing, improve the robustness and accuracy of the system, complete the cross-domain high-precision delivery of the time reference, and meet the time synchronization requirements of underwater units.

[0015] Additional aspects and advantages of the present application will be described in part below, some will become apparent from the following description, or will be understood by those skilled in the art through practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0017] Figure 1 To show the time reference cross-domain delivery scene.

[0018] Figure 2 It is a composition structure diagram of a time reference cross-domain delivery device.

[0019] Figure 3 It is a dynamic tracing time reference cross-domain delivery method flow chart of a time reference cross-domain delivery device.

[0020] Reference signs: 1, telescopic integrated antenna; 2, satellite navigation receiver; 3, radio receiver; 4, underwater acoustic transceiver; 5, laser transceiver; 6, atomic clock group; 7, power module; 8, suspension module. DETAILED DESCRIPTION

[0021] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below. 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 work fall within the scope of the present application. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0022] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the embodiments of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0023] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0024] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0025] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0026] Embodiments The present application is described below in conjunction with Figures 1 to 3 The present application.

[0027] As Figure 1 shown, a time reference cross-domain delivery device and method based on a semi-submersible marker device deployed in the water surface and the water to deliver time reference signals, the device receives the water surface and the water time reference signals in two postures of floating on the water surface and submerging in the water respectively, through real-time monitoring of the local atomic clock group and the external time reference signal, real-time exclusion of local and external interference factors affecting the time reference cross-domain delivery, improvement of the reliability and stability of the time reference network, and then completion of the cross-domain delivery of high-precision time reference. Figure 1 The device obtains satellite radio frequency signals from GPS satellite navigation system, Glonass satellite navigation system, Galileo satellite, and Beidou satellite; the device obtains radio frequency signals from short wave radio station, long wave radio station, and very low frequency radio station; the device obtains underwater acoustic time reference signals and laser time reference signals from other devices and submarine stations. The device is used to provide time reference signals to water surface ships and underwater submersibles.

[0028] Specifically, as Figure 2 shown, Figure 2 is a schematic diagram of the composition structure of a time reference cross-domain delivery device, which includes the following parts: water surface receiving and transmitting module, underwater receiving and transmitting module, atomic clock group 6, power module 7, control circuit, and suspension module 8: The power module 7 is connected with the water surface receiving and transmitting module, the underwater receiving and transmitting module, the atomic clock group 6, and the suspension module 8; The control circuit is connected with the water surface receiving and transmitting module, the underwater receiving and transmitting module, the atomic clock group 6, and the suspension module 8; The water surface receiving and transmitting module is used to receive and transmit time reference signals above the water surface, and at the same time complete the calculation of the time reference signals; The underwater receiving module is used for receiving and transmitting the time reference signal under water, and at the same time, the time reference signal is solved; The power module 7 is used for supplying power to the water surface receiving module, the underwater receiving module, the atomic clock group 6 and the suspension module 8; The control circuit comprises a control algorithm for controlling the operation of the water surface receiving module, the underwater receiving module, the atomic clock group 6, the power module 7 and the suspension module 8; The suspension module 8 is used for controlling the floating and diving depth of the device in water.

[0029] Specifically, the water surface receiving module comprises a telescopic integrated antenna 1, a satellite navigation receiver 2 and a radio receiver 3; The telescopic integrated antenna 1 is connected with the satellite navigation receiver 2; The telescopic integrated antenna 1 is connected with the radio receiver 3; The telescopic integrated antenna 1 is used for receiving the time reference signal, and converting the signal into a satellite radio frequency signal processed by the satellite navigation receiver 2 and a radio station radio frequency signal processed by the radio receiver 3; The satellite navigation receiver 2 is used for processing the satellite radio frequency signal, and solving the satellite time reference signal; The radio receiver 3 is used for processing the radio station radio frequency signal, and solving the radio station time reference signal.

[0030] Specifically, the underwater receiving module comprises a water acoustic receiving device 4 and a laser receiving device 5: The water acoustic receiving device 4 is connected with the control circuit; The laser receiving device 5 is connected with the control circuit; The water acoustic receiving device 4 is used for receiving and transmitting the water acoustic time reference signal, and at the same time, the time reference signal is solved; The laser receiving device 5 is used for receiving and transmitting the laser time reference signal, and at the same time, the time reference signal is solved.

[0031] Specifically, the device has two postures, floating on the water surface and diving into water: When the device is in the floating on the water surface posture, the device receives the satellite and radio time reference signals on the water surface and the water acoustic time reference signal and the laser time reference signal under water; When the device is in the diving into water posture, the device receives the water acoustic and laser time reference signals and periodically floats up to receive the satellite signal to calibrate the deviation.

[0032] Specifically, the device has two working modes: When the device is in the external synchronization mode, an external time reference signal is received, and the local atomic clock group 6 is tamed, and the atomic clock group cooperation control circuit generates a local time reference. When the device is in the self-keeping mode, an external time reference signal is received, and the local atomic clock group 6 is not tamed, and the atomic clock group cooperation control circuit generates a local time reference.

[0033] The scheme effectively reduces the influence of abnormal external signals such as satellite signal shielding and underwater acoustic signal interference on the time reference, and improves the robustness and accuracy of the system by setting two postures and two working modes.

[0034] Specifically, the time reference signal transmitted by the device is PPS and TOD.

[0035] The clock signal output by the device is a standard signal, which adapts to the actual application demand, can directly adapt to the time synchronization demand of underwater equipment, does not need an additional signal conversion module, reduces the integration difficulty in actual application, and balances high precision and practicability, meets the high requirement of time synchronization precision in different scenes, and can be quickly applied.

[0036] Specifically, the atomic clock group 6 is composed of more than or equal to three high-precision frequency reference rubidium atomic clocks. The atomic clock includes one or more of a rubidium atomic clock, a cesium atomic clock and a hydrogen atomic clock.

[0037] The device provided by the application reduces the influence of abnormal external signals on the time reference signal, improves the robustness and accuracy of the system, completes the cross-domain high-precision transmission of the time reference, and meets the time synchronization demand of underwater units.

[0038] As shown in the figure, specifically, the application also provides a time cross-domain transmission method, including the following steps: Figure 3 S1: regularly monitoring the short-term stability, abnormal jump rate and phase noise historical data of the atomic clocks in the atomic clock group, using a dynamic tracing method to monitor the fault atomic clocks in real time, re-including the fault atomic clocks with qualified monitoring results into the joint time keeping category to obtain the joint time keeping atomic clocks; Specifically, the short-term stability judgment method is evaluated by overlapping Allan variance wherein, is the total number of data samples, is the number of data in each group, is the sampling time, is the sampling deviation of the th in the time, ​​a sequence number of packet data, a a number of sampling deviations within a time interval .

[0039] Specifically, the greater the overlapping Allan variance is, the worse the performance of the atomic clock is; the greater the abnormal jump rate is, the worse the performance of the atomic clock is; the greater the phase noise is, the worse the performance of the atomic clock is.

[0040] In the embodiment, when the short-term stability of the atomic clock deviates from the normal value by more than one order of magnitude, the abnormal jump rate is more than 10 times that of other atomic clocks, and the phase noise is more than 10 times that of other atomic clocks, one or more of the above characteristics are met, and the atomic clock is determined to be faulty.

[0041] S2: Calculate a comprehensive score based on historical data of the joint timekeeping atomic clock. Specifically, in the embodiment, the calculation method of the comprehensive score is as follows: the full score of each atomic clock is 10 points, the short-term stability accounts for 5 points, the abnormal jump rate accounts for 3 points, and other indicators account for 2 points. Let the score of a certain indicator be X, and the score corresponding to the kth atomic clock be , the corresponding indicator score of the kth atomic clock is : wherein, the highest score of the atomic clock is, the lowest score of the atomic clock is.

[0042] S3: Distribute dynamic weights to each atomic clock based on the comprehensive score, generate a master time scale of the atomic clock group by using a weighted average algorithm, and generate PPS and TOD time reference signals in cooperation with a control circuit.

[0043] Finally, the comprehensive score of the atomic clock is calculated. The atomic clock is distributed with dynamic weights, and the master time scale of the atomic clock group is generated in the following manner: according to the scores of the atomic clocks, each atomic clock is distributed with weights from high to low, and the higher the score is, the greater the weight is. The sum of the weights of all atomic clocks is 1. According to the weights of the atomic clocks, the master time scale of the atomic clock group is generated, the 1PPS clock difference of each atomic clock with a reference source is counted, and the 1PPS clock difference of the atomic clock group with the reference source is calculated according to the weights of the atomic clocks. The time reference signal obtained by the satellite signal is used as the reference source in the embodiment of the application.

[0044] Specifically, the time reference cross-domain transmission device reduces the influence of abnormal external signals on the time reference signal in a dynamic tracing manner, and the steps are as follows: S11: The device in the default posture is set to an external synchronization mode, and the received external time reference signal is monitored in real time; S12: The device compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is inferior to that of the local atomic clock group reaches a fixed time length, the device is switched to a self-keeping time mode, the domestication of the local atomic clock group by the external signal is stopped, otherwise, the current posture is maintained to monitor the received external time reference signal; S13: The device compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is inferior to that of the local atomic clock group reaches a fixed time length, the posture is switched by using a suspension control device, and the external time reference signal of another posture is received and monitored; S14: The device compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is superior to that of the local atomic clock group reaches a fixed time length, the device is switched to an external synchronization mode, the domestication of the local atomic clock group by the external signal is started, and after the posture is domesticated and synchronized for a set time, the device is switched to the default posture to repeat S11, otherwise, S13 is repeated.

[0045] Specifically, in the dynamic tracing manner of the embodiment, the steps are as follows: Step 1: The semi-submersible buoy in the default posture is set to an external synchronization mode, and it is judged whether the default posture of the semi-submersible buoy is submerged into water, if yes, the semi-submersible buoy is floated on the water surface every 30 days to receive satellite signals to domesticate the local clock for 6 hours; Step 2: The received external time reference signal is monitored in real time in the default posture; Step 3: The embodiment compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is inferior to that of the local atomic clock group reaches 2 hours, the device is switched to a self-keeping time mode, the domestication of the local atomic clock group by the external signal is stopped, otherwise, the current posture is maintained to monitor the external time reference signal; Step 4: The embodiment compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is inferior to that of the local atomic clock group reaches 24 hours, the posture is switched by using a suspension control device, and the external time reference signal of another posture is received; Step 5: The embodiment compares the monitoring results of the external time reference signal and the local atomic clock group, and when the time length during which the quality of the external time reference signal is superior to that of the local atomic clock group reaches 24 hours, the device is switched to an external synchronization mode, the domestication of the local atomic clock group by the external signal is started, and step 2 is repeated, otherwise, step 4 is repeated.

[0046] Through land test verification, the time keeping capability of the multi-atomic clock combined time keeping manner is superior to that of a single atomic clock, and it can be judged that in a time reference cross-domain transmission scene, the multi-atomic clock combined time keeping manner can improve the system performance.

[0047] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

[0049] It should be noted that the embodiments of the present disclosure can be implemented by hardware, software, or a combination of software and hardware. The hardware portion can be implemented using dedicated logic; the software portion can be stored in a memory and executed by an appropriate instruction execution system such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-mentioned devices and methods can be implemented using computer-executable instructions and / or contained in processor control code, for example, such code is provided on a programmable memory or a data carrier such as an optical or electronic signal carrier.

[0050] In addition, although the operations of the method of the present disclosure are described in a particular order in the accompanying drawings, this does not require or imply that these operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flow chart can change the order of execution. Additionally or alternatively, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps. It should also be noted that the features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, the features and functions of a device described above can be further divided into being embodied by multiple devices.

[0051] Although the present disclosure has been described with reference to several specific embodiments, it should be understood that the present disclosure is not limited to the specific embodiments disclosed. The present disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A time reference cross-domain transmission device, characterized in that: include: Surface receiving module, underwater receiving module, atomic clock group, power module, control circuit and suspension module: The power supply module is connected to the surface transmission and reception module, the underwater transmission and reception module, the atomic clock group, and the suspension module; The control circuit is connected to the surface transmission and reception module, the underwater transmission and reception module, the atomic clock group, and the suspension module; The surface receiving and transmitting module is used to receive and transmit the time reference signal above the water surface and simultaneously complete the calculation of the time reference signal; The underwater transmitting and receiving module is used to receive and transmit the time reference signal below the water surface and simultaneously complete the calculation of the time reference signal; The power module is used to supply energy to the surface transmission and reception module, the underwater transmission and reception module, the atomic clock group and the suspension module; The control circuit includes a control algorithm for controlling the operation of the surface transmission and reception module, the underwater transmission and reception module, the atomic clock group, the power supply module and the suspension module; The suspension module is used to control the rising and diving depth of the device in water.

2. The time reference cross-domain transmission device according to claim 1, characterized in that: The surface transmitting and receiving module includes a retractable integrated antenna, a satellite navigation receiver and a radio receiver; The retractable integrated antenna is connected to a satellite navigation receiver; The retractable integrated antenna is connected to a radio receiver; The retractable integrated antenna is used to receive a time reference signal and convert the signal into a satellite radio frequency signal processed by a satellite navigation receiver and a radio station radio frequency signal processed by a radio receiver; The satellite navigation receiver is used to process satellite radio frequency signals and complete the calculation of satellite time reference signals; The radio receiver is used to process radio station radio frequency signals and complete the calculation of radio station time reference signals.

3. The time reference cross-domain transmission device according to claim 1, characterized in that: The underwater transmission and reception module includes an underwater acoustic transmission and reception device and a laser transmission and reception device: The underwater sound receiving and transmitting device is connected to the control circuit; The laser transmitting and receiving device is connected to the control circuit; The underwater acoustic transmitting and receiving device is used to receive and transmit the underwater acoustic time reference signal and simultaneously complete the calculation of the time reference signal; The laser transmitting and receiving device is used to receive and transmit laser time reference signals and simultaneously complete the calculation of the time reference signals.

4. The time reference cross-domain transmission device according to claim 1, characterized in that: This device has two postures: floating on the water surface and submerged in water: When the device is in a floating state, it receives satellite and radio time reference signals on the water surface and underwater acoustic time reference signals and laser time reference signals; When the device is in a submerged state, it receives underwater acoustic and laser time reference signals and surfaces regularly to receive satellite signals to calibrate deviations.

5. The time reference cross-domain transmission device according to claim 1, characterized in that: This device has two working modes: external synchronization mode and self-timekeeping mode: When the device is in external synchronization mode, it is used to receive an external time reference signal and tame the local atomic clock group, which cooperates with the control circuit to generate the local time reference; When the device is in self-timekeeping mode, it is used to receive external time reference signals but not to tame the local atomic clock group. The atomic clock group cooperates with the control circuit to generate the local time reference.

6. The time reference cross-domain transmission device according to claim 1, characterized in that: The time reference signals transmitted by this device are PPS and TOD.

7. The time reference cross-domain transmission device according to claim 1, characterized in that: The atomic clock group is composed of more than or equal to three high-precision frequency reference atomic clocks, and the atomic clocks include one or more of rubidium atomic clocks, cesium atomic clocks and hydrogen atomic clocks.

8. A cross-domain transfer method of a time reference cross-domain transfer device, used for using a time reference cross-domain transfer device according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1: regularly monitoring the historical data of the short-term stability, abnormal jump rate, and phase noise of the atomic clocks in the atomic clock group, monitoring the faulty atomic clocks in real time, and reintegrating the faulty atomic clocks with qualified monitoring results into the joint timekeeping category to obtain the joint timekeeping atomic clock; S2: Calculating a comprehensive score based on historical data of the joint timekeeping atomic clock; S3: Allocate dynamic weights to the atomic clocks based on the comprehensive score, use a weighted average algorithm to generate the main time scale of the atomic clock group, and cooperate with the control circuit to generate PPS and TOD time reference signals.

9. The cross-domain transfer method of the time reference cross-domain transfer device according to claim 8, characterized in that: The short-term stability is determined by overlapping Allan variance Evaluation, the formula is: in, is the total number of data samples, is the number of data in each group, is the sampling time, for First in time Sampling deviation, is the ordinal number of the grouped data, for First in time Sampling deviation.

10. The cross-domain transfer method of the time reference cross-domain transfer device according to claim 8, characterized in that: When the quality of the external clock reference signal degrades, a dynamic tracing method is used to adjust the working mode. The steps of the dynamic tracing method are as follows: S11: The device in the default state is set to the external synchronization mode, and the external time reference signal is received and monitored in real time; S12: The device compares the external time reference signal with the monitoring results of the local atomic clock group. If the quality of the external time reference signal is inferior to that of the local atomic clock group for a fixed period of time, it switches to the self-timekeeping mode and stops the training of the local atomic clock group by the external signal. Otherwise, it maintains the current posture to monitor the received external time reference signal. S13: The device compares the external time reference signal with the monitoring results of the local atomic clock group. If the quality of the external time reference signal is inferior to that of the local atomic clock group for a fixed period of time, the device switches its posture using the suspension control device and receives and monitors the external time reference signal in another posture. S14: The device compares the monitoring results of the external time reference signal and the local atomic clock group. If the quality of the external time reference signal is better than that of the local atomic clock group for a fixed period of time, it switches to the external synchronization mode, starts the training of the local atomic clock group with the external signal, maintains the posture training synchronization set time, and then switches to the default posture and repeats S11. Otherwise, repeat S13.

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