Electric power communication clock verification method, system and device based on Beidou B2b and medium

Abstract

The invention relates to the technical field of satellite time service, in particular to an electric power communication clock verification method, system and device based on Beidou B2b and a medium. A main clock obtains local time according to time zone setting, receives Beidou signals and obtains observation data, broadcast ephemeris and Beidou signal correction information based on the received Beidou signals; extracting a satellite orbit and a clock error correction number based on the Beidou signal correction information, correcting a broadcast ephemeris based on the extracted clock error correction number, obtaining a precise satellite orbit and a clock error, and performing data preprocessing on observation data; constructing an observation equation based on the preprocessed observation data, the precise satellite orbit and the clock error, and obtaining the deviation between the local time of the master clock and the standard time through a parameter estimation method; and based on the obtained deviation between the local time of the master clock and the standard time, the master clock sends the time code to the power system equipment, and the power equipment performs time verification according to the time code, so that the time consistency and the operation stability of the power communication system are improved.

Description

Technical Field

[0001] This invention relates to the field of satellite timing technology, and in particular to a method, system, device and medium for verifying power communication clocks based on BeiDou B2b. Background Technology

[0002] Time synchronization technology in power communication systems ensures clock synchronization across all devices, subsystems, and different areas within the network, guaranteeing accuracy and consistency in communication, data acquisition, and system operation. Especially in modern power systems, time synchronization plays a crucial role in smart grids, SCADA systems, and automated protection devices. Power communication systems need to transmit large amounts of data efficiently, reliably, and securely, with time synchronization being critical for system operation, data recording, fault detection, and location. In smart grids, time synchronization requires millisecond-level or higher accuracy, and clock synchronization between systems must ensure consistency across regions and devices. Since power communication systems typically span multiple geographical regions or provinces, and these regions may have different time zones and environmental factors, ensuring clock synchronization across all devices is a challenge, requiring high-precision time synchronization technologies and specialized synchronization protocols. Furthermore, power communication networks may involve long transmission distances, and network latency and jitter can affect time synchronization accuracy, necessitating robust error compensation and delay correction capabilities.

[0003] On the other hand, while network-based synchronization protocols (such as NTP and PTP) can provide high synchronization accuracy, their performance is often affected by network latency, jitter, and bandwidth limitations. This is especially true in large-scale or long-distance power communication networks, where time synchronization accuracy is easily affected by transmission delays and network congestion. Although PTP offers higher accuracy than NTP, in complex network environments, such as those with routers and switches, latency compensation and network topology can affect synchronization accuracy, making it impossible for PTP to fully meet high-precision requirements. Furthermore, existing time synchronization technologies often consume significant computational resources and time when dealing with frequent clock adjustments and synchronization checks between multiple devices, posing a considerable challenge for high-frequency, real-time power communication systems. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a method, system, device, and medium for clock verification in power communication based on BeiDou B2b to solve the problem of ensuring clock synchronization of all devices. Existing time synchronization technologies often require a lot of computing resources and time when faced with frequent clock adjustments and synchronization verifications between multiple devices.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a method for verifying the clock of power communication based on BeiDou B2b, comprising: The master clock obtains the local time according to the time zone setting, receives BeiDou signals, and obtains observation data, broadcast ephemeris, and BeiDou signal correction information based on the received BeiDou signals; Based on the obtained BeiDou signal correction information, satellite orbit and clock error corrections are extracted. Based on the extracted clock error corrections, the broadcast ephemeris is corrected to obtain precise satellite orbit and clock error, and the observation data is preprocessed. Based on the preprocessed observation data, as well as the precise satellite orbit and clock bias, the observation equation is constructed, and the deviation between the local time of the master clock and the standard time is obtained through parameter estimation. Based on the deviation between the obtained local time of the master clock and the standard time, the master clock sends a time code to the power system equipment, and the power equipment performs time verification according to the time code.

[0007] As a preferred embodiment of the power communication clock verification method based on BeiDou B2b described in this invention, the method includes: extracting satellite orbit and clock bias correction values ​​based on the acquired BeiDou signal correction information; correcting the broadcast ephemeris based on the extracted clock bias correction values; and obtaining precise satellite orbit and clock bias, including: Based on the obtained BeiDou signal correction information, satellite orbit and clock error correction numbers are extracted, and the correction vector of satellite position information is calculated based on the clock error correction numbers. The corrected satellite position vector is calculated based on the correction vector of the satellite position information, and the position of the broadcast ephemeris satellite is corrected. Based on the clock error correction values, the correction parameters for the broadcast ephemeris clock error are extracted, and clock error correction is performed on the broadcast ephemeris satellite.

[0008] As a preferred embodiment of the power communication clock verification method based on BeiDou B2b described in this invention, the method includes: data preprocessing of the observation data, including: Outlier detection identifies and removes outliers from observed data, calculates the standardized residuals of the observed data, compares the standardized residuals with critical values, determines and marks outliers based on the comparison relationship, and removes marked outliers. Analyze the time series characteristics of the observation data, identify the location of clock jumps, and restore the continuity of the observation data through estimation theory; The system calculates and determines whether a cycle slip occurs in the observed data, as well as the location and magnitude of the cycle slip. The observed data is then corrected based on the location and magnitude of the cycle slip.

[0009] As a preferred embodiment of the power communication clock verification method based on BeiDou B2b described in this invention, the method involves: constructing an observation equation based on preprocessed observation data, precise satellite orbits, and clock bias; and obtaining the deviation between the local time and standard time of the master clock using a parameter estimation method, including: Observation equations are constructed based on preprocessed observation data and precise satellite orbits and clock errors. Parameter estimation is performed using the parameter estimation method. The error equation is obtained from the established observation equation, and the cost function is constructed. Based on the constructed cost function, the optimal solution of the position parameters is determined, and the deviation between the local time of the master clock and the standard time is obtained.

[0010] As a preferred embodiment of the BeiDou B2b-based power communication clock verification method described in this invention, the method includes: analyzing the time series characteristics of the observed data, identifying the location of clock jumps, and restoring the continuity of the observed data through estimation theory, comprising: Using the Melbourne-Wübbena combination to identify clock jumps for each epoch and each satellite Calculate the MW combination value : , in, , These are the frequency values ​​for L1 and L2, respectively. and These are the carrier phase observations at frequencies L1 and L2, respectively. and These are pseudorange observations at frequencies L1 and L2, respectively. Calculate the difference between adjacent epochs : , in, For the first A satellite in the era MW combination value at time 10:00 For the first A satellite in the era MW combination value at time; If in the epoch Most common-view satellites exhibit a critical value for the difference between adjacent epochs, with values ​​being similar, indicating a jump. Then it is determined that in the epoch A receiver clock jump occurred, and the jump variable size is... ; in identifying the clock jump epoch and jump variables Then, the carrier phase observations for all frequencies are compensated and repaired. For the epoch any carrier phase observation The repaired value is: , in, The carrier phase observations are the corrected values. For the calendar Any carrier phase observation value, It is a jump variable.

[0011] The beneficial effects of this preferred technical solution are as follows: by analyzing the time series characteristics of the observation data and using the Melbourne-Wübbena combination to achieve clock jump identification and repair, the occurrence time and amplitude of receiver clock jumps can be detected without relying on external references, and the affected carrier phase observations can be effectively compensated. By making full use of the combined characteristics of multi-frequency observation data, the sensitivity and accuracy of clock jump identification are improved, and the continuity and integrity of the observation data are guaranteed.

[0012] As a preferred embodiment of the power communication clock verification method based on BeiDou B2b described in this invention, the method includes: constructing an observation equation based on preprocessed observation data, precise satellite orbit, and clock bias, comprising: A dual-frequency ionospheric combination is used to eliminate ionospheric delay, and the code pseudorange and carrier phase observation equations are established, with the following expression: , in, and These are, respectively, the pseudorange and carrier phase observations of the ionospheric combination code. The geometric distance from the satellite to the station. and They are a receiver and a satellite, respectively. At the speed of light, For receiver clock bias, For satellite clock bias, For tropospheric delay, To eliminate ionospheric combination wavelengths, For carrier phase integer ambiguity, and These are the pseudorange of the ionospheric combination code and the carrier phase measurement noise, respectively.

[0013] As a preferred embodiment of the power communication clock verification method based on BeiDou B2b described in this invention, the method includes: parameter estimation using a parameter estimation method, obtaining an error equation from the established observation equation, and constructing a cost function, including: The weighted least squares method solves for the optimal solution by minimizing the sum of squares, and the error equation is derived from the observation equation: , in, This is the vector of adjusted observations; It is a coefficient matrix; This is the measurement error vector; Construct a least-squares cost function for the parameters to be estimated. : , in, This is the vector of adjusted observations; It is a coefficient matrix; For the measurement error vector, This is the transpose of the measurement error vector; make The optimal solution for the position parameters can be obtained when the value is minimized. : , in, The coefficient matrix, This is the transpose of the coefficient matrix. for The inverse of a matrix, This is the vector of adjusted observations.

[0014] The beneficial effects of this preferred technical solution are as follows: The weighted least squares method is used to estimate the parameters of the established observation equations. By constructing a cost function and minimizing the sum of squared observation residuals, the optimal solutions for position parameters and clock bias are obtained. The weighted relationships of each observation are considered during the solution process, thus improving the estimation accuracy of clock synchronization.

[0015] Secondly, the present invention provides a power communication clock verification system based on BeiDou B2b, comprising: The data acquisition module uses a master clock to obtain local time according to the time zone setting, receives BeiDou signals, and acquires observation data, broadcast ephemeris, and BeiDou signal correction information based on the received BeiDou signals. The data extraction and processing module extracts satellite orbit and clock error corrections based on the acquired BeiDou signal correction information, corrects the broadcast ephemeris based on the extracted clock error corrections, obtains precise satellite orbit and clock error, and performs data preprocessing on the observation data. The equation construction and deviation acquisition module constructs observation equations based on preprocessed observation data, precise satellite orbits, and clock errors, and obtains the deviation between the local time of the master clock and the standard time through parameter estimation. The time verification module, based on the deviation between the obtained local time of the master clock and the standard time, sends a time code to the power system equipment, and the power equipment performs time verification according to the time code.

[0016] Thirdly, the present invention provides an electronic device, comprising: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, they implement the steps of a power communication clock verification method based on BeiDou B2b.

[0017] Fourthly, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the aforementioned method for verifying a power communication clock based on BeiDou B2b.

[0018] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention uses correction information to correct satellite orbits and clock errors, thereby improving the reliability of time transmission; through data preprocessing steps such as outlier detection, clock slip identification, and cycle slip correction, the continuity and integrity of observation data are maintained; by combining the dual-frequency ionospheric combined observation equation and weighted least squares parameter estimation, the deviation between the master clock and standard time is obtained, which can effectively reduce the influence of factors such as ionospheric delay, clock error, and observation noise. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall process of a power communication clock verification method based on BeiDou B2b according to an embodiment of the present invention. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0022] Example 1, referring to Figure 1 As an embodiment of the present invention, a power communication clock verification method based on BeiDou B2b is provided, comprising: To address the challenge of ensuring clock synchronization across all devices, existing time synchronization technologies often require significant computational resources and time when dealing with frequent clock adjustments and synchronization checks between multiple devices. This paper presents a BeiDou B2b-based power communication clock verification method.

[0023] S1: The master clock obtains the local time according to the time zone setting, receives BeiDou signals, and obtains observation data, broadcast ephemeris, and BeiDou signal correction information based on the received BeiDou signals; S2: Based on the acquired BeiDou signal correction information, extract satellite orbit and clock error correction values, correct the broadcast ephemeris based on the extracted clock error correction values, obtain precise satellite orbit and clock error, and perform data preprocessing on the observation data; S3: Based on the preprocessed observation data and precise satellite orbits and clock errors, an observation equation is constructed, and the deviation between the local time of the master clock and the standard time is obtained through parameter estimation. S4: Based on the deviation between the obtained local time of the master clock and the standard time, the master clock sends a time code to the power system equipment, and the power equipment performs time verification according to the time code.

[0024] Therefore, coordinated processing of time acquisition, orbit and clock bias correction, observation data preprocessing, and parameter estimation was achieved on the master clock side, reducing the impact of satellite orbit errors, clock drift, and observation noise on the time synchronization results. By calculating and correcting the deviation between the master clock and standard time, power system equipment can complete synchronization verification based on the time code, thereby improving the time consistency and operational stability of the power communication system.

[0025] Example 2, refer to Figure 1 As an embodiment of the present invention, based on the above embodiment, a power communication clock verification method based on BeiDou B2b is provided.

[0026] In this embodiment of the application, step S1 involves the master clock obtaining the local time according to the time zone setting, receiving the BeiDou signal, and obtaining observation data, broadcast ephemeris, and BeiDou signal correction information based on the received BeiDou signal, including the following steps A1-A2: A1: The master clock obtains the local time based on the time zone setting.

[0027] The system's master clock obtains a high-precision standard time reference, usually Coordinated Universal Time (UTC), by synchronizing with an external time source. After obtaining the UTC time, the master clock converts the time according to the geographical location of the device and the local time zone information to obtain the local time, ensuring that devices in different regions can work in a coordinated manner according to the local time.

[0028] A2: Receives BeiDou signals and acquires observation data, broadcast ephemeris, and BeiDou signal correction information based on the received BeiDou signals.

[0029] After receiving the BeiDou PPP-B2b signal, the receiver of the power communication system decodes the signal and extracts GNSS observation data, broadcast ephemeris, and BeiDou PPP-B2b correction information. The GNSS observation data mainly includes pseudorange and carrier phase data, which are used to calculate the distance and relative position between the satellite and the receiver. The broadcast ephemeris contains information such as the satellite's real-time position, velocity, and clock deviation. The ephemeris data is used to calculate the satellite's position and correct the satellite clock error. The BeiDou PPP-B2b correction information includes information such as satellite clock error, ephemeris differential correction, ionospheric delay, and atmospheric delay, which are used to correct errors caused by atmospheric, ionospheric, and satellite orbital errors.

[0030] Extract satellite orbit and clock corrections, specifically including the satellite's real-time orbital position and clock bias data. These corrections help correct for satellite clock skew and orbital errors, thereby improving positioning and clock synchronization accuracy. To ensure the accuracy and consistency of these corrections, the IODCorr version number is used to verify the match between the satellite's clock corrections and the orbital corrections from the nearest epoch.

[0031] The power system receiver receives track corrections and clock corrections from PPP-B2b and records their respective IODCorr identifiers, denoted as IOD_orb and IOD_clk. Based on the current positioning time, it selects the data corresponding to the epoch with the closest timestamp from the track and clock correction queues, respectively. It then compares the consistency of the selected track correction's IOD_orb with the selected clock correction's IOD_clk. If IOD_orb and IOD_clk match, the matching verification is considered successful, and the set of corrections can be used for precise positioning calculations. If IOD_orb and IOD_clk do not match, the matching verification is considered unsuccessful, and the mismatched corrections are discarded.

[0032] IODCorr is an identifier used in the BeiDou system to identify the version of correction information. It ensures that orbital corrections and clock corrections obtained at different times correspond to the same satellite and are based on the same version of correction data.

[0033] It should be noted that by acquiring this data, the power communication system can perform accurate clock synchronization verification using PPP-B2b technology without ground base stations, thereby meeting the high-precision time synchronization requirements of the power communication system, and finally converting the data into an SSR format file for output.

[0034] In this embodiment of the application, step S2 extracts satellite orbit and clock error corrections based on the acquired BeiDou signal correction information, corrects the broadcast ephemeris based on the extracted clock error corrections, obtains precise satellite orbit and clock error, and performs data preprocessing on the observation data, including the following steps B1-B6: B1: Based on the acquired BeiDou signal correction information, extract the satellite orbit and clock error correction values, and calculate the correction vector of the satellite position information according to the clock error correction values.

[0035] Satellite position correction vector The calculation method is as follows: , , , , in, Represents the satellite position vector of the broadcast ephemeris; Represents the satellite velocity vector for broadcast ephemeris; , , These represent the radial, tangential, and normal unit vectors, respectively. This represents the orbital correction vector obtained from the PPPB2b information, in the order of radial, tangential, and normal.

[0036] B2: Calculate the corrected satellite position vector based on the correction vector of the satellite position information, and correct the position of the broadcast ephemeris satellite.

[0037] PPP-B2b track corrections include track correction vectors. The radial, tangential, and normal components are used to calculate the satellite position correction vector. Combined with the satellite position vector calculated from the broadcast ephemeris The corrected satellite position vector can be calculated. The calculation formula is: , in, This is the satellite position vector before correction. This is the satellite position correction vector.

[0038] B3: Extract the correction parameters for the broadcast ephemeris clock error based on the clock error correction values, and perform clock error correction on the broadcast ephemeris satellite.

[0039] The PPP-B2b clock correction includes parameters that are corrections relative to the broadcast ephemeris clock error. The expression for using these correction parameters is as follows: , In the formula, This represents the satellite clock bias parameters calculated from the broadcast ephemeris; This represents the satellite clock bias obtained after correction using clock bias correction factors; Represents the speed of light; This represents the clock correction value obtained in the PPP-B2b message.

[0040] B4: Identify and remove outliers in the observed data through outlier detection, calculate the standardized residuals of the observed data, compare the standardized residuals with the critical values, determine and mark outliers based on the relationship obtained from the comparison, and remove the marked outliers.

[0041] B5: Analyze the time series characteristics of the observation data, identify the location of clock jumps, and restore the continuity of the observation data through estimation theory.

[0042] B6: Calculate and determine whether a cycle slip has occurred in the observed data, and determine the location and amplitude of the cycle slip. Correct the observed data based on the location and amplitude of the cycle slip.

[0043] The deviation between the combined value and the historical average is calculated based on the MW combination: , in, The deviation of the MW combination value from the historical average. For the first A satellite in the era MW combination value at time 10:00 This is the historical average.

[0044] like Exceeding the threshold If a cycle slip occurs, it is determined that a cycle slip has occurred. For the frequency at which the cycle slip is detected (taking L1 as an example), the new ambiguity floating-point solution is estimated using pseudorange observations of the same frequency. , in, The wavelength is the L1 frequency; the floating-point solution is fixed to the nearest integer. ; Subsequent L1 phase observations from the satellite were corrected: , in, These are the corrected phase observations. These are the phase observations before correction.

[0045] In this embodiment of the application, the outlier detection method used to identify and remove outliers in the observed data in step B4 is the gross error removal method. Calculate the standardized residuals for each observation: , in, The error is the unit weight. These are the diagonal elements of the residual covariance matrix. For the observed residuals; standardize the residuals. Critical value of the preset tolerance range If a comparison is made, If an observation is identified as an outlier, it is marked as such; all outliers are then removed from their respective datasets.

[0046] In an optional implementation, the outlier detection and removal of observed data in step B4 can also employ the Raida criterion. When the number of observed values ​​is large and the distribution is stable, the mean (μ) and standard deviation (σ) of all observed values ​​are calculated. If the deviation of an observed value from the mean exceeds 3σ, it is determined to be an outlier and removed.

[0047] In another optional implementation, the outlier detection and removal of observed data in step B4 can also adopt the Grubbs criterion. Based on the normal distribution assumption, the ratio of the maximum deviation of the observed value from the mean to the standard deviation is calculated. If the ratio exceeds a preset threshold, it is determined to be an outlier and removed.

[0048] In this embodiment of the application, in step B4, outlier detection is used to identify and remove observed data. Discriminant statistics are constructed using unit weighted mean square error and residual covariance matrix, which effectively avoids the limitations of subjective threshold setting and can adapt to the data quality control requirements under different observation conditions.

[0049] In this embodiment of the application, the method of difference compensation is specifically used in step B5 to repair the continuity of the observation data by estimating the theory. Using the Melbourne-Wübbena combination to identify clock jumps for each epoch and each satellite Calculate the MW combination value : , in, , These are the frequency values ​​for L1 and L2, respectively. and These are the carrier phase observations at frequencies L1 and L2, respectively. and These are pseudorange observations at frequencies L1 and L2, respectively. Calculate the difference between adjacent epochs : , in, For the first A satellite in the era MW combination value at time 10:00 For the first A satellite in the era MW combination value at time; If in the epoch Most common-view satellites exhibit a critical value for the difference between adjacent epochs, with values ​​being similar, indicating a jump. Then it is determined that in the epoch A receiver clock jump occurred, and the jump variable size is... ; in identifying the clock jump epoch and jump variables Then, the carrier phase observations for all frequencies are compensated and repaired. For the epoch any carrier phase observation The repaired value is: , in, The carrier phase observations are the corrected values. For the calendar Any carrier phase observation value, It is a jump variable.

[0050] In an optional implementation, step B5, which restores the continuity of observation data by estimating the theory, can also employ the inter-epoch difference method. Under static or low-dynamic observation environments, inter-epoch carrier phase difference observations are constructed, and the clock bias effect is eliminated using the triple-difference observations. When a systematic jump is detected in the consecutive inter-epoch double-difference observations, the continuity is restored by reverse compensation of the phase observations.

[0051] In another optional implementation, the continuity of the observation data can be repaired by estimation theory in step B5 by using a polynomial fitting method. When the clock drift is relatively stable, a period of continuous carrier phase data without cycle slips before the clock jump occurs is selected to construct a low-order polynomial fitting model. The expected observation value at the clock jump time is obtained by extrapolation, and the difference between the actual observation value and the expected value is used as the clock jump amount for compensation.

[0052] In the embodiments of this application, in step B5, the continuity of the observation data is restored by estimating the theory. By analyzing the systematic jumps that occur synchronously among the common-view satellites, the clock jump and cycle jump phenomena can be effectively distinguished. When a majority of satellites are detected to have jumps of the same amplitude at the same time, the occurrence of clock jumps can be accurately determined and its magnitude can be quantified. Then, the carrier phase observation values ​​of all frequencies can be uniformly compensated and corrected.

[0053] It should be noted that by using orbital correction vectors to correct satellite positions and updating satellite clock error information based on clock error correction parameters, the consistency between ephemeris data and observation data is improved. In data preprocessing, outlier observations are identified and removed using gross error removal methods, clock slip identification and difference compensation are achieved through time series analysis, and cycle slip detection and phase correction are completed by combining MW combinations, ensuring the continuity and stability of observation data.

[0054] In this embodiment of the application, step S3 involves constructing an observation equation based on the preprocessed observation data, precise satellite orbit, and clock bias, and obtaining the deviation between the local time of the master clock and the standard time using a parameter estimation method. This includes the following steps C1-C2: C1: Observation equations are constructed based on preprocessed observation data, precise satellite orbits, and clock errors.

[0055] A dual-frequency ionospheric combination is used to eliminate ionospheric delay, and the code pseudorange and carrier phase observation equations are established, with the following expression: , in, and These are, respectively, the pseudorange and carrier phase observations of the ionospheric combination code. The geometric distance from the satellite to the station. and They are a receiver and a satellite, respectively. At the speed of light, For receiver clock bias, For satellite clock bias, For tropospheric delay, To eliminate ionospheric combination wavelengths, For carrier phase integer ambiguity, and These are the pseudorange of the ionospheric combination code and the carrier phase measurement noise, respectively.

[0056] C2: Parameter estimation is performed using the parameter estimation method. The error equation is obtained from the established observation equation, and the cost function is constructed.

[0057] C3: Based on the constructed cost function, determine the optimal solution of the position parameters and obtain the deviation between the local time of the master clock and the standard time.

[0058] When the weights of each observation are known, the cost function is expressed as: , The optimal solution at this point is expressed as , in, For the measurement error vector, To transpose the measurement error vector, For the weight matrix, This is the optimal solution for the position parameters. The coefficient matrix, This is the transpose of the coefficient matrix. Indicates the first The prior standard deviation of the measurement error. It is a diagonal matrix.

[0059] In this embodiment of the application, the parameter estimation method used in step C2 is specifically the weighted least squares method; The weighted least squares method solves for the optimal solution by minimizing the sum of squares, and the error equation is derived from the observation equation: , in, This is the vector of adjusted observations; It is a coefficient matrix; This is the measurement error vector; Construct a least-squares cost function for the parameters to be estimated. : , in, This is the vector of adjusted observations; It is a coefficient matrix; For the measurement error vector, This is the transpose of the measurement error vector; make The optimal solution for the position parameters can be obtained when the value is minimized. : , in, The coefficient matrix, This is the transpose of the coefficient matrix. for The inverse of a matrix, This is the vector of adjusted observations.

[0060] In an optional implementation, the parameter estimation in step C2 can also be performed using the sequential adjustment method, which employs a recursive calculation approach. When new observation data is obtained, the results are updated based on the original solution, thus avoiding the need to repeatedly calculate all observation equations.

[0061] In another optional implementation, the parameter estimation in step C2 can also be performed using Bayesian estimation. When there are historical clock bias statistical characteristics, the prior statistical information of the receiver clock bias is introduced as a constraint condition. The prior distribution is combined with the likelihood function to obtain the posterior distribution. The parameter estimate is obtained by maximizing the posterior probability density function.

[0062] In this embodiment of the application, the parameter estimation in step S3 takes into account the accuracy differences of different observations. By introducing the weight matrix, the high-precision observations play a greater role in the parameter solution, effectively suppressing the influence of observation noise.

[0063] In this embodiment of the application, in step S4, based on the deviation between the obtained local time of the master clock and the standard time, the master clock sends a time code to the power system equipment, and the power equipment performs time verification according to the time code, including the following steps D1-D2: D1: Based on the deviation between the obtained local time of the master clock and the standard time, the master clock sends time codes to the power system equipment.

[0064] D2: Power equipment performs time verification based on time codes.

[0065] The receiving device automatically corrects its local clock by comparing the received IRIG-B code with its own clock time.

[0066] In this embodiment, the time code sent by the master clock to the power system equipment in step S4 specifically uses IRIG-B code. IRIG-B code is a standard clock signal used for high-precision time synchronization. By transmitting accurate time information, it ensures that the clocks of all devices in the system remain consistent. When the master clock sends time information to downstream devices via the IRIG-B code signal, the receiving device decodes the signal to obtain the timestamp data. The master clock periodically sends IRIG-B signals, which contain the current UTC time and other relevant information, such as year, month, day, hour, minute, second, and leap second information.

[0067] In an optional implementation, the master clock can also send time codes to the power system equipment in step S4 using a 1PPS+DCLS signal. In a strong electromagnetic interference environment, a standard 1PPS pulse signal is provided in conjunction with DCLS inter-serial code. The rising edge of the pulse indicates the whole second and provides complete time information through serial data.

[0068] In another optional implementation, the master clock can also use the Network Time Protocol (NTP) to send time codes to the power system equipment in step S4. Time synchronization can be performed on the IP network in server mode, using a multi-layer time source structure and clock filtering algorithm, and calculating time offset and network delay through multiple message exchanges.

[0069] In this embodiment of the application, in step S4, the master clock sends time codes to the power system equipment using a standardized time signal format, and outputs the time information periodically in a fixed structure, which avoids the time deviation problem caused by communication delay or format difference, and ensures the time consistency of different devices in the power system during the execution process.

[0070] In summary, this invention achieves local time acquisition, BeiDou signal reception and decoding, satellite orbit and clock bias correction, outlier data removal, and clock and cycle slip detection and compensation at the master clock, ensuring the continuity and reliability of the observation data. Subsequently, an observation model is constructed based on weighted least squares parameter estimation to calculate the deviation between the master clock and standard time, and time synchronization of various power devices is achieved through timecode transmission.

[0071] Example 3 illustrates a schematic scheme for a power communication clock verification method based on BeiDou B2b. It should be noted that the technical solution of this BeiDou B2b-based power communication clock verification system belongs to the same concept as the aforementioned BeiDou B2b-based power communication clock verification method. Details not described in detail in this example of the BeiDou B2b-based power communication clock verification system can be found in the description of the aforementioned BeiDou B2b-based power communication clock verification method.

[0072] This embodiment also provides a power communication clock verification system based on BeiDou B2b, including: The data acquisition module uses a master clock to obtain local time according to the time zone setting, receives BeiDou signals, and acquires observation data, broadcast ephemeris, and BeiDou signal correction information based on the received BeiDou signals. The data extraction and processing module extracts satellite orbit and clock error corrections based on the acquired BeiDou signal correction information, corrects the broadcast ephemeris based on the extracted clock error corrections, obtains precise satellite orbit and clock error, and performs data preprocessing on the observation data. The equation construction and deviation acquisition module constructs observation equations based on preprocessed observation data, precise satellite orbits, and clock errors, and obtains the deviation between the local time of the master clock and the standard time through parameter estimation. The time verification module, based on the deviation between the obtained local time of the master clock and the standard time, sends a time code to the power system equipment, and the power equipment performs time verification according to the time code.

[0073] This embodiment also provides an electronic device applicable to power communication clock verification based on BeiDou B2b, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement a power communication clock verification method based on BeiDou B2b as proposed in the above embodiment.

[0074] This embodiment also provides a storage medium storing a computer program, which, when executed by a processor, implements a power communication clock verification method based on BeiDou B2b as proposed in the above embodiment.

[0075] The storage medium proposed in this embodiment belongs to the same inventive concept as the method for verifying a power communication clock based on BeiDou B2b proposed in the above embodiments. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0076] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0077] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A power communication clock verification method based on Beidou B2b, characterized in that, The method comprises the following steps: The master clock obtains local time according to time zone setting, receives Beidou signal, and obtains observation data, broadcast ephemeris and Beidou signal correction information based on the received Beidou signal; Based on the obtained Beidou signal correction information, satellite orbit and clock error correction numbers are extracted, the broadcast ephemeris is corrected based on the extracted clock error correction numbers, and precise satellite orbit and clock error are obtained, and the observation data is preprocessed; Based on the preprocessed observation data and the precise satellite orbit and clock error, an observation equation is constructed, and the deviation of the local time of the master clock from the standard time is obtained by parameter estimation method; Based on the obtained deviation of the local time of the master clock from the standard time, the master clock sends a time code to the power system equipment, and the power equipment performs time verification according to the time code.

2. The power communication clock verification method based on Beidou B2b according to claim 1, characterized in that, The method comprises the following steps: Based on the obtained Beidou signal correction information, satellite orbit and clock error correction numbers are extracted, and the correction vector of satellite position information is calculated according to the clock error correction numbers; The corrected satellite position vector is calculated according to the correction vector of satellite position information, and the position of the broadcast ephemeris satellite is corrected; The correction parameters of the broadcast ephemeris clock error are extracted according to the clock error correction numbers, and the clock error of the broadcast ephemeris satellite is corrected.

3. The power communication clock verification method based on BeiDou B2b as described in claim 2, characterized in that, The method comprises the following steps: The abnormal values of the observation data are identified and removed by abnormal value detection, the standardized residuals of the observation values are calculated, the standardized residuals are compared with the critical value, the abnormal values are judged and marked according to the relationship obtained by comparison, and the marked abnormal values are removed; The time sequence characteristics of the observation data are analyzed, the position of clock jump is identified, and the continuity of the observation data is repaired by estimation theory; Whether the cycle slip occurs in the observation data is judged by calculation, the position and amplitude of the cycle slip are determined, and the observation data is corrected according to the position and amplitude of the cycle slip.

4. The method of claim 3, wherein the method comprises: The method comprises the following steps: Based on the preprocessed observation data and the precise satellite orbit and clock error, an observation equation is constructed; Parameter estimation is performed by parameter estimation method, an error equation is obtained from the established observation equation, and a cost function is constructed; Based on the constructed cost function, the optimal solution of the position parameter is determined, and the deviation of the local time of the master clock from the standard time is obtained.

5. The method of claim 4, wherein the method comprises: The method comprises the following steps: The clock jumps are identified using the Melbourne-Wubbena combination for each epoch and for each satellite The MW combination values are calculated: ， wherein, , are frequency values for the L1 and L2 frequencies, respectively, and are carrier phase observations on the L1 and L2 frequencies, respectively, and are pseudorange observations for the L1 and L2 frequencies, respectively. Calculate the difference between adjacent epochs : ， in, For the first A satellite in the era The MW combination value at time 10:

00. For the first A satellite in the era MW combination value at time; If in the epoch Most common-view satellites exhibit a critical value for the difference between adjacent epochs, with values ​​being similar, indicating a jump. Then it is determined that in the epoch A receiver clock jump occurred, and the jump variable size is... ; in identifying the clock jump epoch and jump variables Then, the carrier phase observations for all frequencies are compensated and repaired. For any carrier phase observation of epoch , the repaired value is: ​ ， wherein, is the repaired carrier phase observation, is the epoch of any carrier phase observation, is the jump quantity.

6. The method of claim 5, wherein the method comprises: The method comprises the following steps: The ionospheric delay is eliminated by using double-frequency ionospheric combination, the code pseudorange and carrier phase observation equations are established, and the expression is as follows: ， wherein, and are the ionosphere-free combined code pseudorange and carrier phase observations, respectively, is the geometric range from the satellite to the station, and are the receiver and satellite, respectively, is the speed of light, is the receiver clock bias, is the satellite clock bias, is the tropospheric delay, is the ionosphere-free combined wavelength, is the carrier phase integer ambiguity, and are the ionosphere-free combined code pseudorange and carrier phase measurement noises, respectively.

7. A power communication clock verification method based on BeiDou B2b as described in claim 6, characterized in that, The method comprises the following steps: The optimal solution is solved by minimizing the sum of squares by weighted least squares method, and the error equation is obtained from the observation equation: ， wherein, is the vector of adjusted observations; is the coefficient matrix; is the vector of measurement errors; is the vector of parameters to be estimated, the least squares cost function is constructed : ， wherein is a vector of adjusted observations; is a coefficient matrix; is a measurement error vector, is the transpose of the measurement error vector; The optimal solution of the position parameter can be obtained when the value of the function is the smallest : ， wherein is a coefficient matrix, is the transpose of the coefficient matrix, is is the inverse of the matrix, is the vector of adjusted observations.

8. A power communication clock verification system based on Beidou B2b, applying the method of any one of claims 1-7, characterized in that, The method comprises the following steps: The data acquisition module acquires local time according to the time zone setting, receives the Beidou signal, and acquires observation data, broadcast ephemeris and Beidou signal correction information based on the received Beidou signal; The data extraction and processing module extracts satellite orbit and clock correction numbers based on the acquired Beidou signal correction information, corrects the broadcast ephemeris based on the extracted clock correction numbers, acquires precise satellite orbit and clock, and pre-processes the observation data; The equation construction and deviation acquisition module constructs an observation equation based on the pre-processed observation data and the precise satellite orbit and clock, and obtains the deviation of the local time of the master clock from the standard time through parameter estimation method; The time verification module sends a time code to the power system equipment based on the obtained deviation of the local time of the master clock from the standard time, and the power equipment performs time verification according to the time code. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to realize the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method of any one of claims 1 to 7.

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