Power system time synchronization protection method, device and equipment, and storage medium

Abstract

The invention discloses a power system time synchronization protection method, device and equipment, and a storage medium, and relates to the technical field of power. The method comprises the following steps: acquiring navigation data of an observable satellite of a single Beidou system under at least two frequency bands; the pseudo-range of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the coordinates of the receiving antenna and the clock skew of the single Beidou system are obtained; consistency detection is carried out on the following items: ephemeris parameters, a pseudo range of a receiving antenna relative to an observable satellite, coordinates of the receiving antenna, clock skew and clock stability; validity detection is carried out on ephemeris parameters meeting consistency detection, the pseudo-range of a receiving antenna relative to an observable satellite, the coordinates of the receiving antenna, clock skew and clock stability; and taming the local clock. According to the invention, the problems of increased purchase and operation and maintenance cost and time reliability caused by incapability of determining the authenticity of satellite signals in the protection technology of the current time synchronization device are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric power, in particular to a power system time synchronization protection method, device, equipment and storage medium. BACKGROUND

[0002] The time synchronization device is the most important equipment for realizing time synchronization of the power system. Since the electric energy is kept in real time in the five links of power system, i.e. generation, transmission, transformation, distribution and use, the time consistency of cross-section data is a prerequisite for correctly reflecting and analyzing the operation condition of the power system, therefore, the safe and reliable operation of the time synchronization device is crucial.

[0003] In recent years, in order to prevent the intrusion of "low, small and slow" unmanned aerial vehicles on each site of the power system, many sites with anti-terrorism requirements have added anti-unmanned aerial vehicle systems, and the satellite navigation deception signals emitted by the anti-unmanned aerial vehicle systems will interfere with the normal operation of the time synchronization device. Therefore, a satellite signal safety protection device is added in front of the current time synchronization device to prevent the satellite navigation deception signals from entering the time synchronization device.

[0004] Adding a satellite signal safety protection device in front of the current time synchronization device is a "headache treatment" approach, and this approach has the following problems: (1) the acquisition cost of the time service system is increased; (2) the operation and maintenance cost of the system is increased; (3) the local clock cannot participate in the judgment of the authenticity of the satellite signal, and the result of the passive reception of the safety protection device destroys the integrity of the time service; (4) the serial operation of the devices reduces the overall reliability of the system. SUMMARY

[0005] The present application provides a power system time synchronization protection method, device, equipment and storage medium to solve the problems of the current time synchronization device protection technology increasing the acquisition and operation and maintenance costs and the time reliability caused by the inability to determine the authenticity of the satellite signal.

[0006] The present application is implemented through the following technical solutions.

[0007] In a first aspect, a power system time synchronization protection method is provided. The method comprises: obtaining navigation data of an observable satellite of a single Beidou system at at least two frequency bands; obtaining, based on the navigation data of the observable satellite, pseudoranges of a receiving antenna relative to the observable satellite, navigation messages of the observable satellite, coordinates of the receiving antenna, and a clock bias of the single Beidou system; performing consistency detection on the following items based on the pseudoranges of the receiving antenna relative to the observable satellite, the navigation messages of the observable satellite, the coordinates of the receiving antenna, and the clock bias of the single Beidou system: ephemeris parameters, the pseudoranges of the receiving antenna relative to the observable satellite, the coordinates of the receiving antenna, the clock bias, and clock stability; performing validity detection on the ephemeris parameters, the pseudoranges of the receiving antenna relative to the observable satellite, the coordinates of the receiving antenna, the clock bias, and the clock stability that satisfy the consistency detection; and in the case where the validity detection is satisfied, taming a local clock by using clocks for the at least two frequency bands to perform time synchronization output by using the tamed local clock.

[0008] In some embodiments, the consistency detection on the ephemeris parameters, the pseudoranges of the receiving antenna relative to the observable satellite, the coordinates of the receiving antenna, the clock bias, and the clock stability comprises: the ephemeris parameters sent by the observable satellite at the at least two frequency bands are the same; the differences between each of the pseudoranges of the receiving antenna relative to the observable satellite obtained at the at least two frequency bands are less than a first threshold; the differences between each of the coordinates of the receiving antenna obtained at the at least two frequency bands by the observable satellite are less than a second threshold; the differences between each of the clock biases obtained at the at least two frequency bands by the observable satellite are less than a third threshold; and the differences between each of the clock stabilities obtained at the at least two frequency bands by the observable satellite are less than a fourth threshold.

[0009] In some embodiments, the validity detection on the ephemeris parameters, the pseudoranges of the receiving antenna relative to the observable satellite, the coordinates of the receiving antenna, the clock bias, and the clock stability that satisfy the consistency detection comprises: comparing the ephemeris parameters, the pseudoranges of the receiving antenna relative to the observable satellite, the coordinates of the receiving antenna, the clock bias, and the clock stability that satisfy the consistency detection with historical ephemeris parameters, historical pseudoranges of the receiving antenna relative to the observable satellite, historical coordinates of the receiving antenna, historical clock bias, and historical clock stability, respectively, and determining that the validity detection is satisfied in the case where the differences between all the comparison results are within a predetermined range.

[0010] In some embodiments, when the validity detection is satisfied, taming the local clock with the clock for the at least two frequency bands comprises: calculating a first clock difference between the clock for the at least two frequency bands satisfying the validity detection and the local clock; and calculating a clock adjustment amount and a frequency adjustment amount of the local clock based on the first clock difference and a preset local clock taming period.

[0011] In some embodiments, calculating the clock difference between the clock for the at least two frequency bands satisfying the validity detection and the local clock comprises: when there are multiple clocks satisfying the validity detection, calculating multiple clock differences between the multiple clocks and the local clock respectively; and calculating an average value of the multiple clock differences as the first clock difference.

[0012] In some embodiments, the preset local clock taming period comprises multiple grades, and when taming the local clock, each grade in the multiple grades is selected for a value from low to high of the multiple grades, and the highest grade in the multiple grades is maintained.

[0013] In some embodiments, the method further comprises: when the validity detection is not satisfied, the local clock outputs time synchronization at a frequency adjusted according to a self frequency setting rule.

[0014] In a second aspect, a power system time synchronization protection device is provided, the device comprising: a navigation data acquisition module configured to acquire navigation data of an observable satellite of a single Beidou system at at least two frequency bands; a parameter acquisition module configured to acquire, based on the navigation data of the observable satellite, pseudorange of a receiving antenna relative to the observable satellite, navigation message of the observable satellite, coordinates of the receiving antenna, and clock bias of the single Beidou system; a consistency detection module configured to perform consistency detection on ephemeris parameters, the pseudorange of the receiving antenna relative to the observable satellite, the coordinates of the receiving antenna, the clock bias, and clock stability based on the pseudorange of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the coordinates of the receiving antenna, and the clock bias of the single Beidou system; a validity detection module configured to perform validity detection on ephemeris parameters, pseudorange of a receiving antenna relative to an observable satellite, coordinates of the receiving antenna, clock bias, and clock stability satisfying the consistency detection; and a taming output module configured to tame a local clock with a clock for the at least two frequency bands to output time synchronization with the tamed local clock when the validity detection is satisfied.

[0015] In a third aspect, there is provided an electric power system time synchronization protection device, the device comprising: at least one processor; and at least one memory coupled to the at least one processor and storing instructions for execution by the at least one processor, the instructions, when executed by the at least one processor, implementing the method described above.

[0016] In a fourth aspect, there is provided a computer-readable storage medium storing instructions that, when executed by a computer, cause the computer to perform the method described above.

[0017] Compared with the prior art, the present application has the following advantages and beneficial effects.

[0018] (1) Reducing the purchase cost and operation and maintenance cost of the device: two devices with different functions are changed into one device with equivalent functions.

[0019] (2) Improving the reliability of time service: the reliability of the satellite signal security protection device and the time synchronization device operating in series is lower than that of one time synchronization device with security protection function.

[0020] (3) Security protection and time service become an organic whole: separating security protection and time service before and after is a temporary measure, and integrating the two can increase the comparison of multiple time sources and improve the reliability of time service, returning to the essence of the device. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0022] Figure 1 Flow chart of an electric power system time synchronization protection method according to an embodiment of the present application.

[0023] Figure 2 Overall logic diagram of an electric power system time synchronization protection method according to an embodiment of the present application.

[0024] Figure 3A Parameter acquisition flow chart for B1I frequency band according to an embodiment of the present application.

[0025] Figure 3B Parameter acquisition flow chart for B1C frequency band according to an embodiment of the present application.

[0026] Figure 3C A parameter acquisition flowchart for a B3I frequency band according to an embodiment of the application.

[0027] Figure 4 A flowchart of consistency detection according to an embodiment of the application.

[0028] Figure 5 A flowchart of taming a local clock according to an embodiment of the application.

[0029] Figure 6 A flowchart of local clock keeping according to an embodiment of the application.

[0030] Figure 7 A structural block diagram of a power system time synchronization protection device according to an embodiment of the application.

[0031] Figure 8 A structural schematic diagram of a power system time synchronization protection device according to an embodiment of the application. DETAILED DESCRIPTION

[0032] In order to make the objects, technical solutions and advantages of the application clearer, further detailed description will be given to the application in combination with embodiments and drawings, and the illustrative embodiments of the application and the description thereof are only used to explain the application and do not limit the application.

[0033] The application provides a time synchronization technical solution with security protection function based on a single Beidou system, solves the problems that a traditional time synchronization device does not have satellite signal security protection capability and that many adverse factors are caused by an external satellite signal security protection device, so that satellite signal security protection and time service become an organic whole.

[0034] Figure 1 A flowchart of a power system time synchronization protection method according to an embodiment of the application. Referring to Figure 1 The power system time synchronization protection method comprises S10 to S50.

[0035] In S10, navigation data of an observable satellite of a single Beidou system in at least two frequency bands is acquired.

[0036] In S20, based on the navigation data of the observable satellite, pseudo distances of a receiving antenna relative to the observable satellite, navigation messages of the observable satellite, coordinates of the receiving antenna, and a clock deviation of the single Beidou system are acquired.

[0037] In S30, based on the pseudo-range of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the receiving antenna coordinates, and the clock bias of the single Beidou system, consistency detection is performed on the following items: ephemeris parameters, pseudo-range of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock bias, clock stability.

[0038] In S40, the ephemeris parameters, pseudo-range of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock bias, and clock stability that satisfy the consistency detection are subjected to validity detection.

[0039] In S50, in the case where the validity detection is satisfied, the local clock is disciplined using the clock for at least two frequency bands to perform time synchronization output using the disciplined local clock.

[0040] Figure 2 The following will be described in detail in combination with the drawings.

[0041] In the present application, time synchronization is realized based on the navigation data of the observable satellite in at least two frequency bands. In the present application, three frequency bands are taken as an example for illustration. The three frequency bands involve B1I, B1C, and B3I. The nominal carrier frequency of the B1I signal is 1561.098 MHz, and the bandwidth is 4.092 MHz; the nominal carrier frequency of the B1C signal is 1575.42 MHz, and the bandwidth is 32.736 MHz; the nominal carrier frequency of the B3I signal is 1268.520 MHz, and the bandwidth is 20.46 MHz.

[0042] In S10, when the navigation data of the observable satellite is acquired, the receiving antenna receives the navigation signal transmitted by the Beidou satellite according to the nominal carrier frequency and bandwidth specified by the B1I signal, the B1C signal, and the B3I signal. The carrier-to-noise ratio of the specific frequency signal is improved by amplifying, band-pass filtering, and re-amplifying the navigation signal.

[0043] In S20, the navigation signal of each observable satellite in the corresponding frequency band is acquired through the processing channel set for each frequency band. For example, for the three frequency bands B1I, B1C, and B3I, three independent processing channels respectively perform signal processing on the B1I signal, the B1C signal, and the B3I signal of the Beidou satellite. The signal processing process includes: signal acquisition, signal tracking, Beidou satellite pseudo-range measurement calculation, satellite navigation message analysis, position calculation, and time difference calculation to obtain the required parameters: pseudo-range of the receiving antenna relative to each observable satellite, navigation message of each observable satellite, receiving antenna coordinates, and clock bias of the single Beidou system. Figure 3A 、 Figure 3B 、 Figure 3Crespectively are parameter acquisition flowcharts for B1I frequency band, B1C frequency band, B3I frequency band according to embodiments of the present application, taking Figure 3A as an example for illustration.

[0044] Exemplarily, taking B1I as an example, n Beidou satellites can be observed, and a carrier signal with a nominal carrier frequency of 1561.098 MHz is down-converted. Each Beidou satellite has a corresponding PRN (Pseudo-Random Noise) number and a corresponding C / A code (Coarse Acquisition Code). Tracking and locking the C / A code can measure and calculate the pseudorange of the Beidou satellite to the receiving antenna . At the same time, the ephemeris parameters in the navigation message can also be parsed to further calculate the coordinates of the Beidou satellite ( x , , ). Using the least square method to operate the following formula, the coordinates of the receiving antenna ( x , , ) and the clock difference (clock bias) between the B1I clock and the Beidou system time , can be estimated.

[0045]

[0046] Similarly, the above formula can be used to process the Beidou satellite signal under the B1C frequency band to obtain the coordinates of the receiving antenna ( x , , ) and the clock difference between the B1C clock and the Beidou system time . Processing the Beidou satellite signal under the B3I frequency band obtains the coordinates of the receiving antenna ( x , , ) and the clock difference between the B3I clock and the Beidou system time .

[0047] In addition, the B1I clock, B1C clock, and B3I clock can also be corrected according to the time difference, as shown in the following formula:

[0048]

[0049]

[0050] .

[0051] In S30, consistency checks are performed on each of the acquired ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability. Figure 4 This is a flowchart of a consistency detection method according to an embodiment of the present invention.

[0052] For ephemeris parameter consistency testing, observable satellites must transmit identical ephemeris parameters in at least two frequency bands. Ephemeris parameters include: week-end count, whole-week count, on-board equipment delay difference (2 parameters), clock error parameters (4 parameters), ephemeris parameters (16 parameters), ionospheric model parameters (8 parameters), and UTC (coordinated universal time) synchronization parameters (6 parameters). Each BeiDou satellite transmits its ephemeris parameters through three frequency bands: B1I, B1C, and B3I. The three sets of ephemeris parameters obtained should be identical; discrepancies indicate tampering.

[0053] For pseudorange consistency detection of observable satellites, the difference between pseudoranges acquired by the receiving antenna relative to the observable satellite in at least two frequency bands must be less than a first threshold. The pseudoranges of the same BeiDou satellite measured and calculated using the B1I, B1C, and B3I frequency bands should theoretically be equal. Due to measurement errors, the difference between the three should be less than the first threshold (e.g., 1m).

[0054] For receiver antenna coordinate consistency detection, the difference between the receiver antenna coordinates acquired from observable satellites in at least two frequency bands must be less than a second threshold. The antenna coordinates are calculated using data from the B1I, B1C, and B3I frequency bands respectively. , , ), ( , , ), ( , , The distance difference should be less than the second threshold (e.g., 1m).

[0055] For clock consistency testing, the difference between clock deviations acquired from observable satellites in at least two frequency bands must be less than a third threshold. Clock deviations are calculated using data from the B1I, B1C, and B3I frequency bands. , , The difference between the three should be less than the third threshold (e.g., 5ns).

[0056] For clock stability consistency testing, the difference between clock stability values ​​acquired using observable satellites in at least two frequency bands must be less than a fourth threshold. For example, the calculation... , , The standard mean square deviation of the clock every 10 seconds should be less than the fourth threshold (e.g., 5 ns).

[0057] In step S40, during the validity check of the acquired parameters, the ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability that meet the consistency check are compared with their corresponding historical ephemeris parameters, historical pseudorange of the receiving antenna relative to the observable satellite, historical receiving antenna coordinates, historical clock offset, and historical clock stability. If the differences in all comparison results are within a predetermined range, the validity check is deemed to have been met. When performing the validity check on the acquired parameters, it is necessary to perform validity checks on all parameters involved in each parameter item to ensure the comprehensiveness of the validity check.

[0058] Figure 5 This is a flowchart illustrating the process of taming a local clock according to an embodiment of the present invention. (See also...) Figure 5 In S50, if the validity detection is satisfied, the local clock is tamed using clocks targeting at least two frequency bands, including S51 and S52.

[0059] In S51, the first clock difference between the clock that satisfies the validity test in at least two frequency bands and the local clock is calculated.

[0060] There may be one or more clocks that satisfy validity detection in at least two frequency bands. If there is only one clock that satisfies validity detection, the first clock bias can be calculated directly based on that clock and a preset local clock discipline period. If there are multiple clocks that satisfy validity detection, the multiple clocks need to be processed (e.g., averaged) before the first clock bias is calculated based on the processed clock.

[0061] In S52, the clock adjustment amount and frequency adjustment amount of the local clock are calculated based on the first clock difference and the preset local clock discipline period.

[0062] For example, the B1I, BIC, and B3I clocks are measured against the local clock. clock difference , , Local clock discipline cycle It can be divided into four levels, such as: 60s, 600s, 1800s, and 3600s. If the clock times of B1I, BIC, and B3I meet the validity check, then... The frequency of the local clock adjustment amount In some embodiments, the local clock discipline period The selection progresses from low to high, and once the highest setting is reached, the local clock discipline cycle remains at the highest setting.

[0063] In some embodiments, the method further includes: if the validity detection is not met, the local clock outputs a frequency adjusted according to its own frequency setting rules. When the B1I, BIC, and B3I clock times all fail the validity detection, the local clock maintains operation at the currently adjusted frequency or the original frequency.

[0064] Figure 6 A flowchart illustrating local clockkeeping according to an embodiment of the present invention. (Reference) Figure 6 After passing the validity checks of relevant data in the B1I, BIC, and B3I frequency bands and after local clock discipline, the local clock is used for timekeeping output, producing both a time signal and a time interval signal. It should be noted that if the validity checks of relevant data in the B1I, BIC, and B3I frequency bands fail, the local clock will output at a frequency adjusted according to its own frequency setting rules. Simultaneously, the system returns to the validity check step to continuously check the validity of newly received relevant data.

[0065] Based on a disciplined local clock, it outputs time signals and time information. The output time signals include: 1 PPS (second pulse), 1 PPM (minute pulse), 1 PPH (hour pulse), and IRIG-B(DC) (Inter-Range Instrumentation Group-B, DC). The output time information includes: NTP (Network Time Protocol) messages, PTP (Precision Time Protocol) messages, and serial port messages.

[0066] Compared with the current approach of adding satellite signal security protection devices to the front end of time synchronization devices, the time synchronization technology solution with security protection function based on a single Beidou system proposed in this invention has the following advantages.

[0067] (1) Reduced the purchase and maintenance costs of the equipment: turning two devices with different functions into one device with the same function.

[0068] (2) Improved time synchronization reliability: The reliability of satellite signal security protection device and time synchronization device operating in series is lower than that of a time synchronization device with security protection function.

[0069] (3) Safety protection and time synchronization become an organic whole: Separating safety protection and time synchronization is a temporary measure. Integrating the two can increase the comparison of multiple time sources, improve the reliability of time synchronization, and return to the essence of the equipment.

[0070] On the other hand, the present invention provides a power system time synchronization protection device. Figure 7 This is a structural block diagram of a power system time synchronization protection device according to an embodiment of the present invention. (Reference) Figure 7 The device includes: a navigation data acquisition module, a parameter acquisition module, a consistency detection module, a validity detection module, and a discipline output module.

[0071] The navigation data acquisition module is used to acquire navigation data of observable satellites of a single BeiDou system in at least two frequency bands.

[0072] The parameter acquisition module is used to: acquire the pseudorange of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the coordinates of the receiving antenna, and the clock deviation with the single Beidou system based on the navigation data of the observable satellite.

[0073] The consistency detection module is used to perform consistency checks on the following items based on the pseudorange of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the coordinates of the receiving antenna, and the clock deviation from the single BeiDou system: ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock deviation, and clock stability.

[0074] The validity detection module is used to perform validity checks on the ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock deviation, and clock stability that meet the consistency requirements.

[0075] The disciplined output module is used to: discipline the local clock using clocks targeting at least two frequency bands, provided that validity checks are met, so as to output time synchronization using the disciplined local clock.

[0076] In some embodiments, the consistency detection module performs consistency detection on at least one of the following: ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability, including: the ephemeris parameters transmitted by the observable satellite in at least two frequency bands are the same; the difference between each pseudorange obtained by the receiving antenna relative to the observable satellite in at least two frequency bands is less than a first threshold; the difference between each receiving antenna coordinate obtained using the observable satellite in at least two frequency bands is less than a second threshold; the difference between each clock offset obtained using the observable satellite in at least two frequency bands is less than a third threshold; and the difference between each clock stability obtained using the observable satellite in at least two frequency bands is less than a fourth threshold.

[0077] In some embodiments, the validity detection module performs validity detection on the ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability that meet the consistency detection requirements. This includes comparing the ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability that meet the consistency detection requirements with the corresponding historical ephemeris parameters, historical pseudorange of the receiving antenna relative to the observable satellite, historical receiving antenna coordinates, historical clock offset, and historical clock stability, respectively. If the differences in all comparison results are within a predetermined range, the validity detection is determined to be met.

[0078] In some embodiments, in the disciplined output module, if the validity detection is satisfied, the local clock is disciplined using clocks for at least two frequency bands, including: calculating a first clock difference between the clocks that satisfy the validity detection in at least two frequency bands and the local clock; and calculating the clock adjustment amount and frequency adjustment amount of the local clock based on the first clock difference and a preset local clock discipline period.

[0079] In some embodiments, in the disciplined output module, calculating the clock difference between the clock that satisfies the validity detection and the local clock in at least two frequency bands includes: in the case of multiple clocks that satisfy the validity detection, calculating multiple clock differences between the multiple clocks and the local clock respectively; and calculating the average value of the multiple clock differences as a first clock difference.

[0080] In some embodiments, the preset local clock discipline period includes multiple levels. When disciplining the local clock, each level is selected from the multiple levels in ascending order of value, and the highest level among the multiple levels is maintained.

[0081] In some embodiments, the disciplined output module is further configured to: output the local clock at the frequency adjusted according to its own frequency setting rules or the original frequency if the validity detection is not satisfied.

[0082] In implementing the functions of the integrated modules described above in hardware, this disclosure provides a structure for the power system time synchronization protection device involved in the above embodiments. Figure 8 This is a schematic diagram of a power system time synchronization protection device according to an embodiment of the present invention. (Reference) Figure 8 The power system time synchronization protection device includes: at least one processor; and at least one memory. The at least one memory is coupled to the at least one processor and stores instructions for execution by the at least one processor, which, when executed by the at least one processor, implement the method described above.

[0083] A processor can be a set of various exemplary logic blocks, modules, and circuits that implement or execute the embodiments described in connection with this disclosure. The processor can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in connection with the embodiments of this disclosure. A processor can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, etc.

[0084] The memory may be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, electrically erasable programmable read-only memory (EEPROM), disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0085] In one implementation, the memory can exist independently of the processor. The memory can be connected to the processor via a bus and used to store instructions or program code. When the processor calls and executes the instructions or program code stored in the memory, it can implement the methods provided in the embodiments of this disclosure. In another implementation, the memory can also be integrated with the processor.

[0086] On the other hand, the present invention also provides a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) storing computer program instructions that, when executed on a computer, cause the computer to perform the method as described in any of the above embodiments.

[0087] Exemplary examples show that the aforementioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical discs (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in this disclosure may represent one or more devices for storing information and / or other machine-readable storage media. The term "machine-readable storage media" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0088] This disclosure provides a computer program that, when run on a computer, causes the computer to perform the method of any of the above embodiments.

[0089] This disclosure provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the method of any of the embodiments described above.

[0090] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A power system time synchronization protection method, characterized in that, The method includes: Acquire navigation data from observable satellites of a single BeiDou system in at least two frequency bands; Based on the navigation data of the observable satellite, the pseudorange of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the coordinates of the receiving antenna, and the clock deviation with the single Beidou system are obtained. Based on the pseudorange of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the coordinates of the receiving antenna, and the clock deviation from the single BeiDou system, the following items are checked for consistency: ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, coordinates of the receiving antenna, clock deviation, and clock stability. The validity of the ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability that meet the consistency test are verified; and If the validity detection is satisfied, the local clock is disciplined using clocks for the at least two frequency bands, so as to use the disciplined local clock for time synchronization output.

2. The method according to claim 1, characterized in that, The consistency check is performed on the following items: the ephemeris parameters, the pseudorange of the receiving antenna relative to the observable satellite, the coordinates of the receiving antenna, the clock offset, and the clock stability, including: The observable satellites transmit the same ephemeris parameters in at least two frequency bands; The difference between each pseudorange acquired by the receiving antenna relative to the observable satellite in the at least two frequency bands is less than a first threshold. The difference between the coordinates of each receiving antenna obtained by the observable satellite in the at least two frequency bands is less than a second threshold. The differences between clock deviations obtained by the observable satellites in the at least two frequency bands are less than a third threshold; and The differences between the clock stability values ​​obtained using the observable satellites in the at least two frequency bands are less than a fourth threshold.

3. The method according to claim 1 or 2, characterized in that, The validity of the ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability that meet the consistency test is performed, including: The ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability that meet the consistency test are compared with historical ephemeris parameters, historical pseudorange of the receiving antenna relative to the observable satellite, historical receiving antenna coordinates, historical clock offset, and historical clock stability, respectively. If the differences in all comparison results are within a predetermined range, the validity test is determined to be met.

4. The method according to claim 3, characterized in that, If the validity detection is satisfied, the local clock is disciplined using clocks targeting the at least two frequency bands, including: Calculate the first clock difference between the clock that satisfies the validity detection and the local clock in the at least two frequency bands; and Based on the first clock difference and the preset local clock discipline period, the clock adjustment amount and frequency adjustment amount of the local clock are calculated.

5. The method according to claim 4, characterized in that, Calculating the clock difference between the clock that satisfies the validity detection in at least two frequency bands and the local clock includes: In the case of multiple clocks satisfying the validity detection, calculate multiple clock differences between the multiple clocks and the local clock; and Calculate the average of the multiple clock differences, and use it as the first clock difference.

6. The method according to claim 4, characterized in that, The preset local clock discipline cycle includes multiple levels. When disciplining the local clock, each level is selected from the multiple levels according to the values ​​from low to high, and the highest level among the multiple levels is maintained.

7. The method according to claim 1, characterized in that, The method further includes: if the validity detection is not satisfied, the local clock adjusts its frequency according to its own frequency setting rules to output time synchronization.

8. A power system time synchronization protection device, characterized in that, The device includes: The navigation data acquisition module is used to acquire navigation data of observable satellites of a single BeiDou system in at least two frequency bands. The parameter acquisition module is used to: acquire, based on the navigation data of the observable satellite, the pseudorange of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the coordinates of the receiving antenna, and the clock deviation with the single Beidou system; The consistency detection module is used to perform consistency detection on the following items based on the pseudorange of the receiving antenna relative to the observable satellite, the navigation message of the observable satellite, the coordinates of the receiving antenna, and the clock deviation from the single Beidou system: ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, the coordinates of the receiving antenna, the clock deviation, and clock stability. The validity detection module is used to: perform validity detection on the ephemeris parameters, pseudorange of the receiving antenna relative to the observable satellite, receiving antenna coordinates, clock offset, and clock stability that meet the consistency detection requirements; and The disciplined output module is configured to:, if the validity detection is satisfied, discipline the local clock using clocks for the at least two frequency bands, so as to output time synchronization using the disciplined local clock.

9. A power system time synchronization protection device, characterized in that, The device includes: At least one processor; and At least one memory coupled to the at least one processor and storing instructions for execution by the at least one processor, the instructions implementing the method of any one of claims 1 to 7 when executed by the at least one processor.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 7.

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