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

Abstract

The application 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 standard time information messages; determining a reference time according to the second pulse signal and the standard time information messages; locking a first counter in a local clock when each second pulse signal is received; determining a count value of a second counter in the local clock and a phase deviation when each second pulse signal is received; generating a positioning signal and determining a sending time of the positioning signal, and delaying and compensating the sending time according to the phase deviation; determining the sending time after the delay compensation and a receiving time of the positioning signal received by a receiver, determining distances from the receiver to positioning base stations, and obtaining current position coordinates of the receiver. Through the above arrangement, the positioning precision of the current position of a positioning terminal is improved, and the erection cost of the positioning device is lower and the flexibility is higher.

Description

Technical Field

[0001] This application relates to the field of wireless positioning technology, and in particular to a positioning method, apparatus and system based on time synchronization of positioning base stations. Background Technology

[0002] In the field of wireless positioning technology, a common approach is to use a collaborative mode involving multiple positioning base stations. This involves calculating the receiver's current location coordinates by determining the signal transmission delays between the receiver and these base stations. However, this collaborative mode requires strict time synchronization between all base stations. Any time errors among the base stations will directly lead to inaccuracies in the receiver's positioning calculations, affecting its positioning accuracy.

[0003] While it is possible to synchronize the time of multiple positioning base stations by laying a dedicated wired network, this results in high deployment costs and poor flexibility. Alternatively, time synchronization can be achieved through a wireless backhaul network (4G / 5G). However, the accuracy and stability of time synchronization are difficult to guarantee because the wireless backhaul network is greatly affected by factors such as network load, transmission latency, and network jitter.

[0004] Especially in some application scenarios with severe environmental interference, such as indoor environments, densely populated outdoor building areas, and industrial building complexes, the time synchronization accuracy of the positioning base station is required to achieve high-precision positioning. If the time synchronization accuracy of the positioning base station deviates by 1 ns, it may cause a positional deviation of 4m to 10m between the receiver's current position and the calculated position. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this application is to provide a positioning method, apparatus, and system based on time synchronization with a positioning base station, which can improve the positioning accuracy of the receiver's current location and reduce the installation cost and increase the flexibility of the positioning device.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, this application provides a positioning method based on time synchronization with a positioning base station, which includes:

[0008] It receives satellite signals and obtains second pulse signals and standard time information messages based on the satellite signals.

[0009] The reference time is determined 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.

[0010] Upon receiving each second pulse signal, the first counter in the local clock is locked, and the first counter has a first clock cycle.

[0011] 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 and the second pulse signal in the local clock after the first counter is locked in the first clock cycle is determined based on the count value of the second counter. The second counter has a second clock cycle, which is shorter than the first clock cycle.

[0012] Generate a positioning signal and determine the transmission time of the positioning signal, and compensate for the delay in transmission time based on the phase deviation;

[0013] The transmission times of multiple positioning base stations after delay compensation and the reception time of the receiver receiving the positioning signal are determined. Based on the transmission and reception times after delay compensation, the distance from the receiver to each positioning base station is determined to obtain the current position coordinates of the receiver.

[0014] In some implementations, a positioning signal is generated and its transmission time is determined. Delay compensation is then applied to the transmission time based on the phase deviation, including:

[0015] The positioning signal is generated based on a digital frequency synthesizer, and the start time of the positioning signal generation is determined.

[0016] The phase deviation is sent to the digital frequency synthesizer, which then adjusts the start time of the positioning signal generation based on the phase deviation, aligning the adjusted start time with the transmission time.

[0017] In some implementations, generating a positioning signal and determining the transmission time of the positioning signal, and compensating for the transmission time delay based on the phase deviation, also includes:

[0018] 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;

[0019] The change in count value is determined based on the first and second count values. 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.

[0020] In some implementations, the standard time information message includes an absolute date and absolute time; locking the first counter in the local clock includes:

[0021] Determine the absolute time in the standard time information message and the fixed time delay between the second pulse signal;

[0022] The first counter is calibrated based on a fixed time delay.

[0023] In some implementations, the first counter is calibrated based on a fixed time delay, including:

[0024] The time signal is received by the first locking register, and the first value when the first locking register receives the start character of the time signal is obtained. The time signal is used to indicate the parsed standard time information message.

[0025] The second value of the second lock register when receiving the second pulse signal is obtained by receiving the second pulse signal through the second lock register.

[0026] A fixed time delay is determined based on the difference between the first and second values, and the first counter is calibrated based on the fixed time delay.

[0027] In some implementations, the first clock cycle is 1ms and the second clock cycle is 1ns.

[0028] In some implementations, the distance from the receiver to each positioning base station is determined based on the delayed transmission and reception times to obtain the receiver's current location coordinates, including:

[0029] Calculate the time difference between the transmission and reception times after delay compensation, and determine the distance from the receiver to each positioning base station based on the time difference;

[0030] The receiver's current location coordinates are determined by combining the preset location coordinates of each positioning base station with the triangulation method.

[0031] Secondly, this application provides a positioning device based on time synchronization with a positioning base station, comprising a GNSS module, a clock discipline module, and a main control module. The GNSS module receives satellite signals and obtains a second pulse signal and a standard time information message based on the satellite signals. The clock discipline module determines 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, aligning the output phase of the local clock 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, the first counter having a first clock period of 1ms. When each second pulse signal is received, the count value of a second counter in the local clock is determined, and the phase deviation between the pulse of the locked local clock in the first clock period and the second pulse signal is determined based on the count value of the second counter. The second counter has a second clock period, which is shorter than the first clock period. The main control module generates a positioning signal and determines the transmission time of the positioning signal. It performs delay compensation on the transmission time based on the phase deviation to obtain a delayed transmission time, enabling the receiver to determine the distance to each positioning base station based on the delayed transmission time and the reception time of the positioning signal, and obtain the current position coordinates.

[0032] Thirdly, this application provides a positioning system based on time synchronization of positioning base stations, which includes a monitoring device and the aforementioned positioning device. The monitoring device is used to determine the transmission time of the positioning signal emitted by each positioning base station after time synchronization, and the reception time of the positioning signal received by the receiver, and to determine the current position coordinates of the receiver based on the transmission time and the reception time.

[0033] Fourthly, this application provides a computer device including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs any of the above-mentioned positioning methods based on positioning base station time synchronization.

[0034] The positioning method based on time synchronization of multiple positioning base stations provided in this application embodiment achieves second-level calibration by aligning the output phase of the local clock with the rising edge of the second pulse signal, millisecond-level calibration by calibrating the first counter according to a fixed time delay, and nanosecond-level calibration and compensation by compensating for the transmission time delay based on phase deviation, thereby improving 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, thus improving the positioning accuracy of the positioning terminal. Since no dedicated wired network needs to be laid, this method can also reduce the installation cost of the positioning device and improve the flexibility of the positioning device. Attached Figure Description

[0035] Figure 1 This is a first schematic diagram of a positioning system based on time synchronization of a positioning base station in an embodiment of this application;

[0036] Figure 2 This is a second schematic diagram of a positioning system based on time synchronization with a positioning base station in an embodiment of this application;

[0037] Figure 3 This is a flowchart of a positioning method based on time synchronization with a positioning base station, as described in an embodiment of this application.

[0038] Figure 4 This is a flowchart illustrating the second-level time synchronization calibration in this application embodiment;

[0039] Figure 5 This is a flowchart illustrating the millisecond-level time synchronization calibration in this application embodiment;

[0040] Figure 6 This is a flowchart illustrating the nanosecond-level time synchronization calibration in the embodiments of this application;

[0041] Figure 7 This is a flowchart illustrating the nanosecond-level compensation for time synchronization in this application embodiment;

[0042] Figure 8 This is a flowchart illustrating the determination of the current position coordinates in an embodiment of this application;

[0043] Figure 9 This is a schematic diagram of a computer device in an embodiment of this application. Detailed Implementation

[0044] To enable those skilled in the art to better understand the present application, the technical solutions in specific embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0045] It should be noted that the terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. "A plurality" or "several" indicates at least two. "Comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. "Connected" or "linked" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0046] like Figure 1 and Figure 2As shown, this application provides a positioning method based on time synchronization of a positioning base station, which is applied to a positioning system 100 based on time synchronization of a positioning base station 200. The positioning system 100 includes a positioning device 11 installed on the positioning base station 200.

[0047] It should be noted that the deployment location of the positioning device 11 needs to ensure that the positioning device 11 can stably receive satellite signals sent by the satellite 500. The positioning device 11 cannot directly realize the positioning function, but achieves time synchronization with the positioning base station 200 where the positioning device 11 is located by cooperating with the satellite 500, and achieves positioning of the receiver 300 by cooperating with the receiver 300.

[0048] In some implementations, 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 receiver 300 based on the positioning signal, and the display screen can display the corresponding image based on the position coordinates.

[0049] In some implementations, the positioning system 100 includes a monitoring device 12 with data processing capabilities. The receiver 300 is a terminal with data transmission capabilities, capable of determining the reception time of the positioning signal generated by the positioning device 11, encapsulating the reception time and the transmission time of the positioning signal into a monitoring signal, and sending it to the monitoring device 12. The monitoring device 12 can determine the distance from the receiver 300 to each positioning base station 200 based on the monitoring signal to obtain the current position coordinates of the receiver 300, and display the calculation results in image form.

[0050] like Figure 3 As shown, the positioning method based on time synchronization of positioning base station 200 includes the following steps:

[0051] Step S301: Receive satellite signals and obtain second pulse signals and standard time information messages based on the satellite signals.

[0052] A second pulse signal is a hardware timing pulse signal with a trigger interval of 1 second. A standard time information message is a standardized string used to transmit time data, which includes an absolute date and an absolute time. The absolute date is represented in DDMMYY (day:month:year) format, and the absolute time is represented in hhmmss.sss (hour:minute:second:millisecond) format.

[0053] 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.

[0054] like Figure 2As shown, in some implementations, the positioning device 11 includes a GNSS module 111, which is capable of receiving satellite signals and generating high-precision time and frequency outputs based on the satellite signals, thereby obtaining a second pulse signal and a standard time information message.

[0055] Step S302: Determine the reference time based on the second pulse signal and the standard time information message.

[0056] like Figure 2 As shown, in some implementations, the positioning device 11 further includes a clock discipline module 112, which is connected to the GNSS module 111 and can determine the reference time based on the second pulse signal and the standard time information message.

[0057] The reference time is used to tame 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.

[0058] Specifically, there is a frequency difference and a phase difference between the local clock and the second pulse signal. The output frequency and output phase of the local clock are adjusted according to the frequency difference and phase difference so that the output phase of the local clock is aligned with the rising edge of the second pulse signal.

[0059] It should be noted that the rising edge of the second pulse signal marks the exact second of the absolute time. Aligning the output phase of the local clock with the rising edge of the second pulse signal enables calibration with second-level precision.

[0060] 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.

[0061] Step S303: When each second pulse signal is received, lock the first counter in the local clock.

[0062] 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.

[0063] The first counter has a first clock period, which is 1ms in this embodiment.

[0064] like Figure 4As shown, in some implementations, the clock discipline module 112 locks the first counter in the local clock, specifically including the following steps:

[0065] Step S401: Determine the fixed time delay between the absolute time in the standard time information message and the second pulse signal.

[0066] 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.

[0067] Step S402: Calibrate the first counter according to a fixed time delay.

[0068] like Figure 5 As shown, in some embodiments, calibrating the first counter according to a fixed time delay specifically includes the following steps:

[0069] 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.

[0070] The time signal is used to indicate the parsed standard time information message.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] The time unit for the fixed time delay is on the order of milliseconds.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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:

[0084] Step S601: Generate a positioning signal based on a digital frequency synthesizer and determine the start time of positioning signal generation.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] like Figure 7 As 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:

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] like Figure 8 As shown, in some implementations, the distance from receiver 300 to each positioning base station 200 is determined based on the delayed transmission and reception times to obtain the current position coordinates of receiver 300. This specifically includes the following steps:

[0100] Step S801: Calculate the time difference between the transmission time and the reception time after delay compensation, and determine the distance from the receiver 300 to each positioning base station 200 based on the time difference.

[0101] Step S802: Based on the preset position coordinates of each positioning base station 200, the current position coordinates of the receiver 300 are determined by combining the triangulation method.

[0102] Among them, the triangulation method is a method to determine the current position coordinates of the receiver 300 by measuring the distances from the receiver 300 to multiple positioning base stations 200. The triangulation method satisfies the following relationship:

[0103]

[0104] in, Let be the distance from receiver 300 to the i-th positioning base station 200. Here are the position coordinates of receiver 300. The preset location coordinates of the i-th base station.

[0105] It should be noted that the position coordinates of the positioning terminal can be determined based on the position coordinates of the receiver 300.

[0106] The positioning method based on time synchronization of positioning base stations 200 in this embodiment achieves second-level calibration by aligning the output phase of the local clock with the rising edge of the second pulse signal, millisecond-level calibration by calibrating the first counter according to a fixed time delay, and nanosecond-level calibration and compensation by compensating for the transmission time delay according to the phase deviation, thereby improving the accuracy and stability of time synchronization of multiple positioning base stations 200. The current position coordinates of the positioning terminal are determined based on the preset position coordinates of each positioning base station 200 and the distance from the receiver 300 to each positioning base station 200, thus improving the positioning accuracy of the positioning terminal. Since no dedicated wired network needs to be laid, this method can also reduce the installation cost of the positioning device 11 and improve the flexibility of the positioning device 11.

[0107] like Figure 9 As shown, this application also provides a computer device 400, which includes a memory 41 and a processor 42. The memory 41 stores a computer program. When the computer program is executed by the processor 42, the processor 42 executes the above-described positioning method based on the time synchronization of the positioning base station 200.

[0108] Specifically, processor 42 may include a central processing unit, or an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement embodiments of the present invention.

[0109] In some implementations, memory 41 may include a large-capacity memory for data or instructions.

[0110] For example, the memory includes a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, a universal serial bus (USB) drive, or any combination of the above-mentioned memory.

[0111] For example, memory 41 may be located inside or outside the computer device.

[0112] In some possible implementations, the computer device 400 also includes a communication interface 43 and a bus 44. The processor 42, memory 41, and communication interface 43 are connected via the bus 44 and communicate with each other.

[0113] The communication interface 43 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0114] Bus 44 includes hardware and / or software that couples the components of computer device 400 together. For example, and not to limit, bus 44 may include an accelerated graphics port or other graphics bus, an enhanced industry standard architecture bus, a front-side bus, a low pin count bus, a memory bus, or other suitable bus or any combination of the above buses.

[0115] This application also provides a computer-readable storage medium (not shown) storing a computer program that, when executed, implements the above-described positioning method based on time synchronization with a positioning base station 200.

[0116] Computer-readable storage media include, but are not limited to, electronic, magnetic, optical, infrared, or other physical storage devices or apparatuses that may contain or store information such as executable instructions, data, etc. More specific examples of computer-readable storage media include electrical connections based on one or more wires, RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives), SSDs (Solid State Disks), any type of storage disk (such as optical discs), or similar memory, or any suitable combination of the foregoing.

[0117] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of 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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