Positioning method, device and system based on positioning base station time synchronization

Abstract

The invention discloses a positioning method, device and system based on positioning base station time synchronization, and relates to the technical field of wireless positioning. The positioning method comprises the following steps: obtaining a second pulse signal and a standard time information message; determining reference time according to the second pulse signal and the standard time information message; when each second pulse signal is received, locking a first counter in a local clock; when each second pulse signal is received, determining a count value of a second counter in a local clock, and determining a phase deviation; generating a positioning signal, determining the sending time of the positioning signal, and performing delay compensation on the sending time according to the phase deviation; and determining the sending time after delay compensation and the receiving time of the receiver for receiving the positioning signal, and determining the distance from the receiver to each positioning base station so as to obtain the current position coordinate of the receiver. Through the setting, the positioning precision of the current position of the positioning terminal is improved, and the erection cost of the positioning device is lower and the flexibility is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless positioning technology, in particular to a positioning method, device and system based on time synchronization of positioning base stations. BACKGROUND

[0002] In the field of wireless positioning technology, a mode of cooperative work of multiple positioning base stations is usually adopted, that is, the current position coordinates of a receiver are calculated by determining the signal transmission delay between the receiver and multiple positioning base stations. However, the mode of cooperative work of multiple positioning base stations requires that the signals transmitted by all positioning base stations must be strictly time-synchronized. If there is a time error in multiple positioning base stations, it will directly lead to the deviation of the positioning calculation of the current position of the receiver, affecting the positioning accuracy of the receiver.

[0003] Although the time of multiple positioning base stations can be synchronized by a wired synchronization mode, a dedicated wired network is laid to synchronize the time of multiple positioning base stations by the wired network, which leads to a higher cost of erecting the positioning base stations and poorer flexibility. Or the time is synchronized by a wireless network synchronization mode through a wireless backhaul network (4G / 5G), but the accuracy and stability of time synchronization are difficult to guarantee due to the great influence of network load, transmission delay and network jitter and other factors on the wireless backhaul network.

[0004] Especially in some application scenarios with serious environmental interference, such as indoor environment, outdoor area with dense buildings, industrial building group and the like, if high-precision positioning is required, the time synchronization accuracy of the positioning base stations is also required to be higher. If the time synchronization accuracy of the positioning base stations deviates by 1 ns, there may be a position deviation of 4 m to 10 m between the current position and the calculated position of the receiver. SUMMARY

[0005] In order to solve the problems of the prior art, the purpose of the present application is to provide a positioning method, device and system based on time synchronization of positioning base stations, which can improve the positioning accuracy of the current position of the receiver and make the erection cost of the positioning device lower and the flexibility higher.

[0006] To achieve the above purpose, the present application adopts the following technical solutions: In a first aspect, the present application provides a positioning method based on time synchronization of positioning base stations, which comprises: receiving a satellite signal and obtaining a second pulse signal and a standard time information message according to the satellite signal; determining a reference time according to the second pulse signal and the standard time information message, the reference time being used to tame a local clock of the positioning base station so that the output phase of the local clock is aligned with the rising edge of the second pulse signal; locking a first counter in the local clock when receiving each of the second pulse signals, the first counter having a first clock cycle; determining a count value of a second counter in the local clock when receiving each of the second pulse signals, and determining a phase deviation of the local clock after the first counter is locked in the first clock cycle from the second pulse signals according to the count value of the second counter, the second counter having a second clock cycle, the second clock cycle being less than the first clock cycle; generating a positioning signal and determining a sending time of the positioning signal, and delaying the sending time according to the phase deviation; determining sending times of a plurality of positioning base stations after the delaying, and determining receiving times of the positioning signal received by the receiver, and determining distances from the receiver to the positioning base stations according to the sending times after the delaying and the receiving times, to obtain current position coordinates of the receiver.

[0007] In some implementations, the generating the positioning signal and the determining the sending time of the positioning signal, and the delaying the sending time according to the phase deviation, comprise: generating the positioning signal based on a digital frequency synthesizer, and determining a starting time of the generation of the positioning signal; sending the phase deviation to the digital frequency synthesizer, and adjusting the starting time of the generation of the positioning signal according to the phase deviation, so that the adjusted starting time is aligned with the sending time.

[0008] In some implementations, the generating the positioning signal and the determining the sending time of the positioning signal, and the delaying the sending time according to the phase deviation, further comprise: determining a first count value of the second counter when receiving a current second pulse signal and a second count value of the second counter when receiving a previous second pulse signal when receiving each of the second pulse signals; determining a count value variation according to the first count value and the second count value, and changing a code phase or a frequency of the positioning signal by adjusting a control word of the digital frequency synthesizer to delay the sending time if the count value variation is greater than a preset threshold.

[0009] In some implementations, the standard time information message comprises an absolute date and an absolute time; and the locking the first counter in the local clock comprises: determining a fixed time delay between the absolute time in the standard time information message and the second pulse signals; calibrating the first counter according to the fixed time delay.

[0010] In some implementations, the calibrating the first counter according to the fixed time delay comprises: The time signal is received by the first locking register, and a first value at a start character of the time signal received by the first locking register is obtained, the time signal being used to indicate the parsed standard time information message; The second locking register receives the second pulse signal, and a second value at the time when the second locking register receives the second pulse signal is obtained. A fixed time delay is determined according to a difference between the first value and the second value, and the first counter is calibrated according to the fixed time delay.

[0011] In some implementations, the first clock cycle is 1 ms, and the second clock cycle is 1 ns.

[0012] In some implementations, the distances from the receiver to the positioning base stations are determined according to the delay-compensated sending time and the receiving time, so as to obtain the current position coordinates of the receiver, including: The time difference between the delay-compensated sending time and the receiving time is calculated, and the distances from the receiver to the positioning base stations are determined according to the time difference; The current position coordinates of the receiver are determined based on the preset position coordinates of the positioning base stations and in combination with the triangulation method.

[0013] In a second aspect, the present application provides a positioning device based on time synchronization of positioning base stations, which includes a GNSS module, a clock taming module and a master control module. The GNSS module is used to receive satellite signals and obtain a second pulse signal and a standard time information message according to the satellite signals. The clock taming module is used to determine a reference time according to the second pulse signal and the standard time information message, the reference time being used to tame a local clock of the positioning base station, so that the output phase of the local clock is aligned with the rising edge of the second pulse signal. When each second pulse signal is received, a first counter in the local clock is locked, and the first counter has a first clock cycle of 1 ms. When each second pulse signal is received, the counting value of a second counter in the local clock is determined, and the phase deviation between the pulse of the local clock in the first clock cycle after the first counter is locked and the second pulse signal is determined according to the counting value of the second counter, the second counter having a second clock cycle, and the second clock cycle being smaller than the first clock cycle. The master control module is used to generate a positioning signal and determine the sending time of the positioning signal, delay-compensate the sending time according to the phase deviation, so as to obtain the delay-compensated sending time, and enable the receiver to determine the distances to the positioning base stations according to the delay-compensated sending time and the receiving time of the received positioning signal, and obtain the current position coordinates.

[0014] In a third aspect, the present application provides a positioning system based on time synchronization of positioning base stations, which comprises a monitoring device and the positioning device as described above. The monitoring device is configured to determine the sending time of the positioning signal sent by each positioning base station after time synchronization, and the receiving time of the positioning signal received by the receiver, and determine the current position coordinates of the receiver according to the sending time and the receiving time.

[0015] In a fourth aspect, the present application provides a computer device, which comprises a memory and a processor. The memory stores a computer program, and the computer program is executed by the processor to make the processor execute any of the positioning methods based on time synchronization of positioning base stations.

[0016] The positioning method based on time synchronization of positioning base stations provided in the embodiments of the present application can realize second-level calibration by aligning the output phase of the local clock with the rising edge of the second pulse signal, realize millisecond-level calibration by calibrating the first counter according to the fixed time delay, realize nanosecond-level calibration and compensation by delaying the sending time according to the phase deviation, so as to improve the accuracy and stability of time synchronization of multiple positioning base stations. The current position coordinates of the positioning terminal are determined based on the preset position coordinates of each positioning base station and the distance from the receiver to each positioning base station, so as to further improve the positioning accuracy of the positioning terminal. Since a dedicated wired network does not need to be laid, the method can also reduce the erection cost of the positioning device used for positioning and improve the flexibility of the positioning device. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a first schematic diagram of the positioning system based on time synchronization of positioning base stations in the embodiments of the present application; Figure 2 FIG. 2 is a second schematic diagram of the positioning system based on time synchronization of positioning base stations in the embodiments of the present application; Figure 3 FIG. 3 is a flowchart of the positioning method based on time synchronization of positioning base stations in the embodiments of the present application; Figure 4 FIG. 4 is a flowchart of the second-level calibration of time synchronization in the embodiments of the present application; Figure 5 FIG. 5 is a flowchart of the millisecond-level calibration of time synchronization in the embodiments of the present application; Figure 6 FIG. 6 is a flowchart of the nanosecond-level calibration of time synchronization in the embodiments of the present application; Figure 7 FIG. 7 is a flowchart of the nanosecond-level compensation of time synchronization in the embodiments of the present application; Figure 8 FIG. 8 is a flowchart of the determination of the current position coordinates in the embodiments of the present application; Figure 9 FIG. 9 is a schematic diagram of the computer device in the embodiments of the present application. DETAILED DESCRIPTION

[0018] In order to make the personnel in the art better understand the scheme of the present application, the technical scheme in the specific embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application.

[0019] It should be noted that the "first", "second" and similar words used in the specification and claims of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. Similarly, "one" or "a" and similar words do not represent a quantity limitation, but represent the existence of at least one. "Multiple" or "several" represents at least two. "Include" or "contain" and similar words mean that the elements or objects appearing before "include" or "contain" cover the elements or objects listed after "include" or "contain" and their equivalents, and do not exclude other elements or objects. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0020] As shown in Figure 1 and Figure 2 The present application provides a positioning method based on positioning base station time synchronization, which is applied to a positioning system 100 based on positioning base station 200 time synchronization, and the positioning system 100 includes a positioning device 11 installed on the positioning base station 200.

[0021] It should be noted that the positioning device 11 needs to be deployed in a position to ensure that the positioning device 11 can stably receive the satellite signal sent by the satellite 500, and the positioning device 11 cannot directly realize the positioning function, but can realize the time synchronization of the positioning base station 200 where the positioning device 11 is located by cooperating with the satellite 500, and can realize the positioning of the receiver 300 by cooperating with the receiver 300.

[0022] In some implementations, the receiver 300 includes a processing chip capable of processing data and a display screen capable of displaying images, the processing chip can calculate the current position coordinates of the receiver 300 according to the positioning signal, and the display screen can display the corresponding images according to the position coordinates.

[0023] In other implementations, the positioning system 100 includes a monitoring device 12, and the monitoring device 12 has data processing capability. The receiver 300 is a terminal with data transmission capability, which can determine the receiving time of the positioning signal generated by the positioning device 11, encapsulate the receiving time and the sending time of the positioning signal as a monitoring signal and send it to the monitoring device 12. The monitoring device 12 can determine the distance from the receiver 300 to each positioning base station 200 according to the monitoring signal, so as to obtain the current position coordinates of the receiver 300, and display the calculation result in the form of images.

[0024] As shown in Figure 3 The positioning method based on time synchronization of the positioning base station 200 includes the following steps: Step S301: Receive satellite signals and obtain a second pulse signal and a standard time information message according to the satellite signals.

[0025] The second pulse signal is a hardware timing pulse signal with a trigger interval of 1 s. The standard time information message is a standardized string for transmitting time data, which includes an absolute date in the format of DDMMYY (day: month: year) and an absolute time in the format of hhmmss.sss (hour: minute: second: millisecond).

[0026] For example, the absolute date is 111125, which represents November 11, 2025, and the absolute time is 123456.00, which represents 12:34:56.00.

[0027] As shown in Figure 2 In some implementations, the positioning device 11 includes a GNSS module 111 capable of receiving satellite signals and generating high-precision time and frequency outputs according to the satellite signals, thereby obtaining a second pulse signal and a standard time information message.

[0028] Step S302: Determine a reference time according to the second pulse signal and the standard time information message.

[0029] As shown in Figure 2 In some implementations, the positioning device 11 further includes a clock disciplining module 112 connected to the GNSS module 111 and capable of determining a reference time according to the second pulse signal and the standard time information message.

[0030] The reference time is used to discipline the local clock of the positioning base station 200 so that the output phase of the local clock is aligned with the rising edge of the second pulse signal.

[0031] Specifically, there is a frequency difference and a phase difference between the local clock and the second pulse signal, and the output frequency and the output phase of the local clock are adjusted according to the frequency difference and the phase difference to align the output phase of the local clock with the rising edge of the second pulse signal.

[0032] It should be noted that the rising edge of the second pulse signal marks the whole second moment of the absolute time, and aligning the output phase of the local clock with the rising edge of the second pulse signal can achieve calibration with a precision of seconds.

[0033] For example, the clock discipline module 112 includes a phase-locked loop (PLL) or a digital PLL, which dynamically adjusts the control voltage of the local crystal oscillator to adjust the output frequency of the local clock. The local crystal oscillator is a self-excited oscillation circuit, typically integrated with a quartz crystal and oscillation circuit, capable of directly outputting a clock signal of a specific frequency. If the local clock phase lags at the rising edge of the second pulse signal, a compensation pulse is inserted to shift the phase forward, thereby adjusting the output phase of the local clock.

[0034] Step S303: When each second pulse signal is received, lock the first counter in the local clock.

[0035] In some implementations, the clock discipline module 112 is able to receive a second pulse signal and lock the first counter in the local clock upon receiving each second pulse signal.

[0036] The first counter has a first clock period, which is 1ms in this embodiment.

[0037] like Figure 4 As shown, in some implementations, the clock discipline module 112 locks the first counter in the local clock, specifically including the following steps: Step S401: Determine the fixed time delay between the absolute time in the standard time information message and the second pulse signal.

[0038] It should be noted that since the second pulse signal is generated based on hardware circuitry and is directly aligned with the exact second of satellite 500, while the standard time information message is transmitted via serial port, it needs to be obtained through processes such as baud rate conversion and data frame parsing, which introduces a certain time delay. Therefore, there must be a fixed time delay between the absolute time in the standard time information message and the second pulse signal.

[0039] Step S402: Calibrate the first counter according to a fixed time delay.

[0040] like Figure 5 As shown, in some embodiments, calibrating the first counter according to a fixed time delay specifically includes the following steps: Step S501: Receive the time signal through the first locking register and obtain the first value when the first locking register receives the start character of the time signal.

[0041] The time signal is used to indicate the parsed standard time information message.

[0042] The first locking register updates its data to a first value upon receiving a time signal, and freezes this first value after the time signal expires until the next time signal is received, thus preventing interference with the first value and ensuring its data integrity. Updating the data to the first value accurately records the start position of the parsed standard time information message, facilitating subsequent calibration of the first counter.

[0043] Step S502: Receive the second pulse signal through the second lock register and obtain the second value when the second lock register receives the second pulse signal.

[0044] The second lock register can update the data in the second lock register to the second value when the second pulse signal is received, and freeze the second value in the second lock register after the second pulse signal fails until the next second pulse signal is received, so as to avoid interference to the second value and ensure the data integrity of the second value.

[0045] Step S503: Determine a fixed time delay based on the difference between the first value and the second value, and calibrate the first counter based on the fixed time delay.

[0046] The time unit for the fixed time delay is on the order of milliseconds.

[0047] Through the above steps, a fixed time delay is determined based on the first value of the time signal stored in the first locking register and the second value of the second pulse signal stored in the second locking register. The local clock is then synchronized with the satellite 500 time based on the fixed time delay, achieving millisecond-level precision calibration.

[0048] Step S304: When each second pulse signal is received, determine the count value of the second counter in the local clock, and determine the phase deviation between the pulse and the second pulse signal of the local clock after the first counter is locked in the first clock cycle based on the count value of the second counter.

[0049] The second counter has a second clock period, which is shorter than the first clock period. In this embodiment, the second clock period is 1 ns.

[0050] It should be noted that the time unit of the first counter is on the order of milliseconds, which cannot achieve nanosecond-level calibration. The above steps can determine the phase deviation between the pulse of the local clock after the first counter is locked and the second pulse signal in the first clock cycle, and thus determine the nanosecond-level difference between the second pulse signal and the local clock after the first counter is locked, which is convenient for subsequent nanosecond-level calibration.

[0051] In some implementations, when the clock discipline module 112 receives each second pulse signal, it triggers a second counter and counts the pulses of the local clock locked by the first counter in the first clock cycle to determine the count value of the second counter. Since the count value of the second counter can reflect the number of local cycles of the local clock in each second pulse signal cycle, the phase deviation between the pulses of the local clock locked by the first counter in the first clock cycle and the second pulse signal can be determined.

[0052] Step S305: Generate a positioning signal and determine the transmission time of the positioning signal, and perform delay compensation on the transmission time according to the phase deviation.

[0053] like Figure 2 As shown, in some implementations, the positioning device 11 further includes a main control module 113, which has data processing capabilities and includes a digital frequency synthesizer.

[0054] like Figure 6 As shown, in some implementations, the main control module 113 generates a positioning signal and determines the transmission time of the positioning signal, and performs delay compensation on the transmission time based on the phase deviation, specifically including the following steps: Step S601: Generate a positioning signal based on a digital frequency synthesizer and determine the start time of positioning signal generation.

[0055] The digital frequency synthesizer includes a phase accumulator, which continuously generates an increasing phase sequence based on the received second pulse signal, thereby generating a positioning signal to determine the start time of the positioning signal.

[0056] Step S602: Send the phase deviation to the digital frequency synthesizer, so that the digital frequency synthesizer adjusts the start time of the positioning signal generation according to the phase deviation, and aligns the adjusted start time with the transmission time.

[0057] The digital frequency synthesizer includes a phase offset register, which stores the phase deviation and adjusts the start time of the positioning signal according to the phase deviation and the transmission time, so that the transmission time is aligned with the start time of the positioning signal, thereby achieving nanosecond-level calibration.

[0058] For example, if the transmission time is 1 ns earlier than the start time of the positioning signal, the digital frequency synthesizer generates the positioning signal 1 ns earlier to align the adjusted start time with the transmission time.

[0059] It should be noted that the purpose of nanosecond-level calibration is to eliminate initial or periodic time errors, rather than to maintain real-time synchronization accuracy.

[0060] like Figure 7As shown, in some implementations, generating a positioning signal and determining the transmission time of the positioning signal, and compensating for the delay in transmission time based on phase deviation, also includes the following steps: Step S701: When each second pulse signal is received, determine the first count value of the second counter when the current second pulse signal is received, and the second count value of the second counter when the previous second pulse signal is received.

[0061] Step S702: Determine the change in count value based on the first count value and the second count value. If the change in count value is greater than a preset threshold, adjust the control word of the digital frequency synthesizer to change the code phase or frequency of the positioning signal to compensate for the delay in transmission time.

[0062] It should be noted that after the base station has been running for a long time, the count value of the second counter will fluctuate. Therefore, it is necessary to compensate for the delay in transmission time to ensure synchronization accuracy.

[0063] The control word of a digital frequency synthesizer includes a phase control word and a frequency control word. Adjusting the phase control word changes the initial value of the phase accumulator, thereby changing the code phase of the positioning signal; adjusting the frequency control word changes the frequency of the phase accumulator, thereby changing the frequency of the positioning signal.

[0064] By adjusting the phase control word to change the code phase of the positioning signal and / or adjusting the frequency control word to change the frequency of the positioning signal, nanosecond-level compensation is achieved to maintain real-time synchronization accuracy.

[0065] Step S306: Determine the transmission time of multiple positioning base stations 200 after delay compensation, and the reception time of the receiver 300 receiving the positioning signal. Determine the distance from the receiver 300 to each positioning base station 200 based on the transmission and reception times after delay compensation, so as to obtain the current position coordinates of the receiver 300.

[0066] In some implementations, the main control module 113 can determine the transmission time after delay compensation based on the phase deviation and generate a transmission time signal characterizing the transmission time after delay compensation. After receiving the transmission time signal, the receiver 300 determines the distance from the receiver 300 to each positioning base station 200 based on the transmission time after delay compensation and the reception time of the positioning signal, and then calculates and obtains its own current position coordinates.

[0067] In some other implementations, the receiver 300 generates a monitoring signal after receiving the transmission time signal and sends the monitoring signal to the monitoring device 12, which works with the monitoring device 12 to obtain the current position coordinates of the receiver 300.

[0068] like Figure 8As shown, in some implementations, the distances from the receiver 300 to the positioning base stations 200 are determined according to the delay-compensated sending time and receiving time to obtain the current position coordinates of the receiver 300, specifically including the following steps: Step S801: calculating the time difference between the delay-compensated sending time and receiving time, and determining the distances from the receiver 300 to the positioning base stations 200 according to the time difference.

[0069] Step S802: determining the current position coordinates of the receiver 300 based on the preset position coordinates of the positioning base stations 200 and in combination with the triangulation method.

[0070] The triangulation method is a method of measuring the distances from the receiver 300 to the multiple positioning base stations 200 to determine the current position coordinates of the receiver 300, and satisfies the following relationship:

[0071] wherein, is the distance from the receiver 300 to the i th positioning base station 200, is the position coordinates of the receiver 300, is the preset position coordinates of the i th base station. It should be noted that the position coordinates of the positioning terminal can be determined according to the position coordinates of the receiver 300.

[0072] The positioning method based on the time synchronization of the positioning base stations 200 in the embodiment of the application achieves the second-level calibration by aligning the output phase of the local clock with the rising edge of the second pulse signal, achieves the millisecond-level calibration by calibrating the first counter according to the fixed time delay, achieves the nanosecond-level calibration and nanosecond-level compensation by delay-compensating the sending time according to the phase deviation, so as to improve the precision and stability of the time synchronization of the multiple positioning base stations 200. The current position coordinates of the positioning terminal are determined based on the preset position coordinates of the positioning base stations 200 and the distances from the receiver 300 to the positioning base stations 200, so as to further improve the positioning precision of the positioning terminal. Since there is no need to lay a dedicated wired network, the method can also reduce the erection cost of the positioning device 11 used for positioning and improve the flexibility of the positioning device 11.

[0073] As shown in the method for positioning a terminal according to the application, Figure 9 The application also provides a computer device 400 including a memory 41 and a processor 42, the memory 41 stores a computer program, and the computer program is executed by the processor 42 to make the processor 42 execute the positioning method based on the time synchronization of the positioning base stations 200.

[0074] In particular, the processor 42 can include a central processing unit, or an Application Specific Integrated Circuit (ASIC), or can be configured to implement one or more integrated circuits that embody an embodiment of the present application.

[0075] In some implementations, the memory 41 can include mass storage for data or instructions.

[0076] By way of example, the memory includes a Hard Disk Drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a Universal Serial Bus (USB) drive, or a combination of any of the above.

[0077] By way of example, the memory 41 is internal or external to the computer device.

[0078] In some possible implementations, the computer device 400 further includes a communication interface 43 and a bus 44. The processor 42, the memory 41, the communication interface 43 are connected through the bus 44 and complete the communication between each other.

[0079] The communication interface 43 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the present application.

[0080] The bus 44 includes hardware and / or software, which couples the components of the computer device 400 to each other. By way of example and not limitation, the bus 44 can include an Accelerated Graphics Port or other graphics bus, an Advanced Industrial Computer Architecture bus, a front-side bus, a low pin count bus, a memory bus, or other suitable bus or a combination of any of the above.

[0081] The present application also provides a computer readable storage medium (not shown in the figure), which stores a computer program, and the computer program is executed to realize the positioning method based on the time synchronization of the positioning base station 200.

[0082] The computer readable storage medium includes, but is not limited to, electronic, magnetic, optical, infrared or other physical storage devices or equipment, and can contain or store information such as executable instructions, data, etc. More specific examples of the computer readable storage medium include one or more wires, RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives, etc.), SSD (Solid State Disk), any type of storage disk (such as optical disk, etc.), or similar storage, or any suitable combination of the above.

[0083] It is to be understood that all the improvements and changes that can be made to the above-described embodiments are to be considered as falling within the scope of the present application as defined in the appended claims.

Claims

1. A positioning method based on time synchronization with a positioning base station, characterized in that, include: Receive satellite signals and obtain second pulse signals and standard time information messages based on the satellite signals; A reference time is determined based on the second pulse signal and the standard time information message. The reference time is used to tame the local clock of the positioning base station so that the output phase of the local clock is aligned with the rising edge of the second pulse signal. Upon receiving each second pulse signal, a first counter in the local clock is locked, the first counter having a first clock period; When each second pulse signal is received, the count value of the second counter in the local clock is determined, and the phase deviation between the pulse of the local clock locked by the first counter and the second pulse signal in the first clock cycle is determined according to the count value of the second counter. The second counter has a second clock cycle, which is shorter than the first clock cycle. A positioning signal is generated and the transmission time of the positioning signal is determined. The transmission time is then compensated for a delay based on the phase deviation. The transmission time of the multiple positioning base stations after delay compensation and the reception time of the receiver receiving the positioning signal are determined. The distance from the receiver to each of the positioning base stations is determined based on the transmission time and reception time after delay compensation, so as to obtain the current position coordinates of the receiver.

2. The positioning method according to claim 1, characterized in that, The process of generating a positioning signal and determining the transmission time of the positioning signal, and compensating for the delay in the transmission time based on the phase deviation, includes: A positioning signal is generated based on the digital frequency synthesizer, and the start time of the positioning signal generation is determined. The phase deviation is sent to the digital frequency synthesizer, which adjusts the start time of the positioning signal generation according to the phase deviation, so that the adjusted start time is aligned with the transmission time.

3. The positioning method according to claim 2, characterized in that, The step of generating a positioning signal and determining the transmission time of the positioning signal, and compensating for the delay in the transmission time based on the phase deviation, further includes: When each of the second pulse signals is received, a first count value of the second counter when the current second pulse signal is received, and a second count value of the second counter when the previous second pulse signal is received are determined; The change in count value is determined based on the first count value and the second count value. If the change in count value is greater than a preset threshold, the code phase or frequency of the positioning signal is changed by adjusting the control word of the digital frequency synthesizer to compensate for the delay in transmission time.

4. The positioning method according to claim 1, characterized in that, The standard time information message includes an absolute date and an absolute time; the first counter in the locked local clock includes: Determine the fixed time delay between the absolute time in the standard time information message and the second pulse signal; The first counter is calibrated based on the fixed time delay.

5. The positioning method according to claim 4, characterized in that, The calibration of the first counter based on the fixed time delay includes: The time signal is received by the first locking register, and a first value is obtained when the first locking register receives the start character of the time signal. The time signal is used to indicate the parsed standard time information message. The second pulse signal is received by the second locking register, and a second value is obtained when the second locking register receives the second pulse signal. The fixed time delay is determined based on the difference between the first value and the second value, and the first counter is calibrated based on the fixed time delay.

6. The positioning method according to claim 1, characterized in that, The first clock cycle is 1ms, and the second clock cycle is 1ns.

7. The positioning method according to claim 1, characterized in that, The step of determining the distance from the receiver to each of the positioning base stations based on the delayed-compensated transmission time and the reception time to obtain the current location coordinates of the receiver includes: Calculate the time difference between the transmission time and the reception time after delay compensation, and determine the distance from the receiver to each of the positioning base stations based on the time difference; Based on the preset location coordinates of each of the positioning base stations, the current location coordinates of the receiver are determined using triangulation.

8. A positioning device based on time synchronization with a positioning base station, characterized in that, include: The GNSS module is used to receive satellite signals and obtain second pulse signals and standard time information messages based on the satellite signals. A clock discipline module is used to determine a reference time based on the second pulse signal and the standard time information message. The reference time is used to discipline the local clock of the positioning base station so that the output phase of the local clock is aligned with the rising edge of the second pulse signal. Upon receiving each second pulse signal, the first counter in the local clock is locked, the first counter having a first clock period of 1ms; When each second pulse signal is received, the count value of the second counter in the local clock is determined, and the phase deviation between the pulse of the local clock locked by the first counter and the second pulse signal in the first clock cycle is determined according to the count value of the second counter. The second counter has a second clock cycle, which is shorter than the first clock cycle. The main control module is used to generate a positioning signal and determine the transmission time of the positioning signal, and to perform delay compensation on the transmission time according to the phase deviation to obtain the delayed-compensated transmission time, so that the receiver can determine the distance to each positioning base station according to the delayed-compensated transmission time and the reception time of the positioning signal, and obtain the current location coordinates.

9. A positioning system based on time synchronization with a positioning base station, characterized in that, include: The monitoring equipment and the positioning device according to claim 8, wherein the monitoring equipment is used to determine the transmission time of the positioning signal sent by each of the positioning base stations after time synchronization, and the reception time of the receiver receiving the positioning signal, and to determine the current position coordinates of the receiver based on the transmission time and the reception time.

10. A computer device, characterized in that, The system includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the positioning method based on time synchronization of a positioning base station as described in any one of claims 1-7.

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