Time calibration method, device and equipment based on Beidou system, medium and program product

Abstract

The invention provides a time correction method, device and equipment based on a Beidou system, a medium and a program product, and the method comprises the steps: receiving a Beidou satellite signal, and carrying out the analysis of the Beidou satellite signal, and obtaining Beidou satellite orbit data; the method comprises the following steps: constructing a virtual GPS satellite, performing orbit dynamics solution based on the virtual GPS satellite to obtain instantaneous position information, speed information and ephemeris information of the virtual GPS satellite, and performing pseudo-range simulation and Doppler frequency shift simulation to obtain pseudo-range information and Doppler frequency shift information; performing leap second compensation on time information in the Beidou satellite orbit data to obtain leap second compensation information; coding based on ephemeris information, pseudo-range information, Doppler frequency shift information and leap second compensation information to obtain a GPS digital baseband signal; and converting the GPS digital baseband signal into a GPS radio frequency signal, and sending the GPS radio frequency signal to the GPS time service terminal so that the GPS time service terminal carries out time correction. The existing equipment does not need to be replaced, the construction period is short, the modification cost is low, and the equipment compatibility is good.

Description

Technical Field

[0001] This disclosure relates to the field of power system time synchronization technology, and in particular to a time synchronization method, device, equipment, medium and program product based on the BeiDou system. Background Technology

[0002] This section is intended to provide background or context for the embodiments of this disclosure as set forth in the claims. The description herein is not intended to be a prior art simply because it is included in this section.

[0003] With the full deployment of the BeiDou Navigation Satellite System, the power system requires the existing GPS timing equipment to be upgraded to the BeiDou timing system.

[0004] The modification plan in the relevant technology requires a complete replacement of the antenna system, clock system and timing terminal, phasing out the existing timing equipment and purchasing new equipment. The equipment to be modified includes various types such as dual-mode GPS priority and single GPS.

[0005] However, this involves problems such as long construction periods, high renovation costs, and poor equipment compatibility. Summary of the Invention

[0006] In view of this, the purpose of this disclosure is to propose a time synchronization method, device, equipment, medium and program product based on the BeiDou system, which at least to some extent solves one of the technical problems in the related technologies.

[0007] To achieve the above objectives, the first aspect of this exemplary embodiment provides a time synchronization method based on the BeiDou system, comprising: Receive BeiDou satellite signals, analyze the BeiDou satellite signals, and obtain BeiDou satellite orbit data; A virtual GPS satellite is constructed based on the BeiDou satellite orbit data. Orbital dynamics are calculated based on the virtual GPS satellite to obtain the instantaneous position information, velocity information and ephemeris information of the virtual GPS satellite. Pseudorange simulation and Doppler frequency shift simulation are performed based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information. Leap second compensation is performed on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; The GPS digital baseband signal is obtained by encoding the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information. The GPS digital baseband signal is converted into a GPS radio frequency signal, and the GPS radio frequency signal is sent to the GPS timing terminal so that the GPS timing terminal can perform time synchronization.

[0008] In some exemplary embodiments, the construction of a virtual GPS satellite based on the BeiDou satellite orbit data, and the performing of orbital dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite, includes: The BeiDou satellite orbit data is converted from the BeiDou coordinate system to the GPS coordinate system to obtain GPS satellite status data in the GPS coordinate system. The Kepler root number of the virtual GPS satellite is obtained by performing reverse calculation based on the GPS satellite status data. Based on the Kepler element of the virtual GPS satellite, the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite are obtained in real time through an orbital dynamics model.

[0009] In some exemplary embodiments, the step of performing pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information includes: Based on the instantaneous position information and the velocity information, the geometric distance information between the virtual GPS satellite and the receiver is determined; Based on the geometric distance information, the pseudorange information is determined using a satellite clock error model and an ionospheric and tropospheric delay model. The Doppler frequency shift information is determined based on the relative motion between the virtual GPS satellite and the receiver.

[0010] In some exemplary embodiments, the step of encoding based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information to obtain the GPS digital baseband signal includes: Preview information for determining the leap second compensation information; Before compensation is performed based on the leap second compensation information, the advance information of the leap second compensation information is encoded into a predetermined data frame of the GPS digital baseband signal.

[0011] In some exemplary embodiments, the BeiDou satellite orbit data includes: BeiDou signal quality information and BeiDou satellite health status information; The process of encoding the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information includes: The BeiDou signal quality information and the BeiDou satellite health status information are mapped into virtual GPS satellite health status information, user ranging accuracy information and ionospheric correction parameters. The GPS digital baseband signal is obtained by encoding the virtual GPS satellite health status information, the user ranging accuracy information, the ionospheric correction parameters, the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information.

[0012] In some exemplary embodiments, the step of converting the GPS digital baseband signal into a GPS radio frequency signal and sending the GPS radio frequency signal to a GPS timing terminal to enable the GPS timing terminal to perform time synchronization includes: The GPS radio frequency signal is captured and tracked based on the ephemeris information, pseudorange information, and Doppler frequency shift information in the GPS radio frequency signal. The local time is calibrated based on the leap second compensation information in the GPS radio frequency signal.

[0013] Based on the same inventive concept, a second aspect of the exemplary embodiments of this disclosure provides a time synchronization device based on the BeiDou system, comprising: The BeiDou satellite signal receiving and parsing module is configured to receive BeiDou satellite signals, parse the BeiDou satellite signals, and obtain BeiDou satellite orbit data. The BeiDou satellite orbit data processing module is configured to construct a virtual GPS satellite based on the BeiDou satellite orbit data, perform orbit dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information and ephemeris information of the virtual GPS satellite, and perform pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information. The time information leap second compensation module is configured to perform leap second compensation on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; The GPS digital baseband signal encoding module is configured to encode the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information. The GPS timing terminal interaction module is configured to convert the GPS digital baseband signal into a GPS radio frequency signal and send the GPS radio frequency signal to the GPS timing terminal so that the GPS timing terminal can perform time synchronization.

[0014] Based on the same inventive concept, a third aspect of the exemplary embodiments of this disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method as described in the first aspect.

[0015] Based on the same inventive concept, a fourth aspect of the exemplary embodiments of this disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method as described in the first aspect.

[0016] Based on the same inventive concept, a fifth aspect of the exemplary embodiments of this disclosure provides a computer program product including computer program instructions that, when run on a computer, cause the computer to perform the method as described in the first aspect.

[0017] As can be seen from the above, the time synchronization method, apparatus, device, medium, and program product based on the BeiDou system provided in this disclosure include: receiving BeiDou satellite signals; parsing the BeiDou satellite signals to obtain BeiDou satellite orbit data; constructing a virtual GPS satellite based on the BeiDou satellite orbit data; performing orbital dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite; performing pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information; performing leap second compensation on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; encoding the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information to obtain a GPS digital baseband signal; converting the GPS digital baseband signal into a GPS radio frequency signal; and sending the GPS radio frequency signal to a GPS timing terminal to enable the GPS timing terminal to perform time synchronization. This method does not require a complete replacement or obsolescence of existing equipment, has a short construction period, low modification costs, and good equipment compatibility. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram illustrating an application scenario of a time synchronization method based on the BeiDou system provided as an exemplary embodiment of this disclosure; Figure 2 A flowchart illustrating a time synchronization method based on the BeiDou system provided as an exemplary embodiment of this disclosure; Figure 3 A schematic diagram of a time synchronization device based on the BeiDou system provided as an exemplary embodiment of this disclosure; Figure 4A schematic diagram of the structure of an electronic device provided as an exemplary embodiment of the present disclosure. Detailed Implementation

[0020] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0021] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the software or hardware, such as the electronic device, application, server, or storage medium performing the operations of this disclosed technical solution, based on the prompt message.

[0022] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0023] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0024] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0025] To make the objectives, technical solutions, and advantages of this disclosure clearer, the principles and spirit of this disclosure will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided merely to enable those skilled in the art to better understand and implement this disclosure, and are not intended to limit the scope of this disclosure in any way. Rather, these embodiments are provided to make this disclosure more thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art.

[0026] It is important to understand in this article that any number of elements in the accompanying figures is for illustrative purposes and not for limitation, and that any naming is for distinction only and has no limiting meaning.

[0027] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar words used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly. The article "a" or "an" preceding an element does not exclude the existence of multiple such elements.

[0028] The principles and spirit of this disclosure will be explained in detail below with reference to several representative embodiments.

[0029] As described in the background section, with the full deployment of the BeiDou Navigation Satellite System, the power system requires the transformation of existing GPS timing equipment into the BeiDou timing system.

[0030] The modification plan in the relevant technology requires a complete replacement of the antenna system, clock system and timing terminal, phasing out the existing timing equipment and purchasing new equipment. The equipment to be modified includes various types such as dual-mode GPS priority and single GPS.

[0031] However, the inventors of this disclosure have discovered that it suffers from problems such as long construction periods, high modification costs, and poor equipment compatibility, specifically: The complete replacement of the antenna system, clock system, and timing terminal, along with the complex debugging process, resulted in a long construction period. The replacement of existing timing equipment with new equipment resulted in high upgrade costs. Furthermore, the equipment to be modified includes various types such as dual-mode GPS priority and single GPS, resulting in poor equipment compatibility and making unified modification difficult.

[0032] To address the aforementioned issues, this disclosure provides a time synchronization scheme based on the BeiDou system, specifically comprising: receiving BeiDou satellite signals; parsing the BeiDou satellite signals to obtain BeiDou satellite orbit data; constructing a virtual GPS satellite based on the BeiDou satellite orbit data; performing orbital dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite; performing pseudorange simulation and Doppler shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler shift information; performing leap second compensation on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; encoding the ephemeris information, the pseudorange information, the Doppler shift information, and the leap second compensation information to obtain a GPS digital baseband signal; converting the GPS digital baseband signal into a GPS radio frequency signal; and sending the GPS radio frequency signal to a GPS timing terminal to enable the GPS timing terminal to perform time synchronization.

[0033] This method eliminates the need for complete replacement or obsolescence of existing equipment, resulting in a shorter construction period, lower modification costs, and the ability to adapt to different types of equipment. Instead, it generates a single signal that all equipment can recognize, thus ensuring good equipment compatibility.

[0034] Furthermore, unlike related technologies that only perform NMEA message format conversion, the solution adopted in this disclosure is not a simple protocol translation. Instead, it generates radio frequency signals that are highly consistent with real GPS signals at both the physical and data layers by constructing a physically complete and dynamically evolving virtual GPS constellation. The core difference of this solution lies in its deep simulation of the physical processes of satellite navigation, ensuring the highest compatibility with downstream GPS terminals.

[0035] After introducing the basic principles of this disclosure, various non-limiting embodiments of this disclosure will be described in detail below.

[0036] refer to Figure 1 This is a schematic diagram illustrating an application scenario of the time synchronization method based on the BeiDou system provided in an exemplary embodiment of this disclosure.

[0037] This application scenario includes BeiDou satellite 110, server 120, and GPS timing terminal 130.

[0038] Among them, the Beidou satellite 110, server 120 and GPS timing terminal 130 can be connected through wired or wireless communication networks to achieve data interaction.

[0039] Beidou Satellite 110 includes the Beidou Satellite Navigation System.

[0040] Server 120 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0041] GPS timing terminal 130 can be a variety of GPS timing terminals in the power system, with different brands and purchase dates.

[0042] When the time synchronization method based on the BeiDou system is running on server 120, server 120 receives BeiDou satellite signals generated by BeiDou satellite 110, parses the BeiDou satellite signals to obtain BeiDou satellite orbit data; constructs a virtual GPS satellite based on the BeiDou satellite orbit data, performs orbital dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite, performs pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information; performs leap second compensation on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; encodes the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information to obtain a GPS digital baseband signal; converts the GPS digital baseband signal into a GPS radio frequency signal, and sends the GPS radio frequency signal to GPS timing terminal 130 to enable GPS timing terminal 130 to perform time synchronization.

[0043] The following is combined Figure 1 The above application scenarios are used to describe the time synchronization method based on the BeiDou system according to exemplary embodiments of this disclosure. It should be noted that the above application scenarios are shown only to facilitate understanding of the spirit and principles of this disclosure, and the embodiments of this disclosure are not limited in any way. Rather, the embodiments of this disclosure can be applied to any applicable scenario.

[0044] refer to Figure 2 This is a flowchart illustrating a time synchronization method based on the BeiDou system provided in an exemplary embodiment of this disclosure.

[0045] The time synchronization method based on the BeiDou system includes the following steps: Step S210: Receive BeiDou satellite signals, analyze the BeiDou satellite signals, and obtain BeiDou satellite orbit data.

[0046] In some exemplary embodiments, receiving BeiDou satellite signals includes: Capture BeiDou satellite signals and extract raw timestamps and orbital parameters.

[0047] As an example, the TD1052 chip module is used to receive BeiDou satellite signals.

[0048] For example, the TD1052 single Beidou positioning chip module is used to receive the raw signals (B1 / B2 band) from Beidou satellites.

[0049] In some exemplary embodiments, the step of parsing the BeiDou satellite signal to obtain BeiDou satellite orbit data includes: It analyzes BeiDou satellite signals to generate time, location, and velocity information.

[0050] The time information includes high-precision time information, such as nanosecond-level time information.

[0051] Location information includes latitude and longitude.

[0052] Step S220: Construct a virtual GPS satellite based on the BeiDou satellite orbit data, perform orbital dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information and ephemeris information of the virtual GPS satellite, and perform pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information.

[0053] In some exemplary embodiments, the construction of a virtual GPS satellite based on the BeiDou satellite orbit data, and the performing of orbital dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite, includes: The BeiDou satellite orbit data is converted from the BeiDou coordinate system to the GPS coordinate system to obtain GPS satellite status data in the GPS coordinate system. The Kepler root number of the virtual GPS satellite is obtained by performing reverse calculation based on the GPS satellite status data. Based on the Kepler element of the virtual GPS satellite, the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite are obtained in real time through an orbital dynamics model.

[0054] In practice, the virtual constellation dynamic construction and orbital dynamics calculation aim to generate a set of dynamically changing virtual ephemeris and almanacs that are fully compatible with the original GPS terminal.

[0055] Input data: BeiDou satellite orbital parameters obtained from the BeiDou signal analysis unit. These parameters are typically provided in the form of Kepler elements and mainly include: the semi-major axis of the orbit. Orbital eccentricity Track inclination Right ascension of ascending node Angular distance from perigee and the near point angle wait.

[0056] Processing flow: a. Coordinate benchmark unification: First, the real-time position and velocity of BeiDou satellites in the BeiDou coordinate system (BDCS) calculated from the BeiDou navigation message will be... Using the standard seven-parameter Bursa model, the position and velocity were accurately converted to the WGS-84 coordinate system used by GPS. .

[0057] b. Virtual Ephemeris Generation: Based on the satellite state in the WGS-84 coordinate system, the system does not directly map the data, but instead uses this as a reference to inversely calculate and generate a new set of Kepler elements to describe the virtual GPS satellites. This step is the specific manifestation of "solving the Kepler roots," which ensures that the generated virtual constellation is consistent with the spatiotemporal reference provided by the BeiDou system in terms of spatial geometry.

[0058] c. Orbital dynamics propagation: The orbital dynamics model within the FPGA is based on the generated virtual Kepler roots and takes into account the non-spherical gravitational perturbations of the Earth (e.g., The system calculates the dynamics of each virtual GPS satellite at any given moment using key perturbation factors such as solar and lunar gravity, and recursively calculates the dynamics of each satellite in real time. instantaneous position and speed Coordinate system transformation and orbital dynamics model work sequentially; the former achieves baseline unification, while the latter is responsible for dynamic evolution.

[0059] Output: A set of instantaneous position and velocity vectors of a virtual GPS satellite constellation that changes dynamically over time, as well as virtual ephemeris and almanac data conforming to GPS standards.

[0060] In some exemplary embodiments, the step of performing pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information includes: Based on the instantaneous position information and the velocity information, the geometric distance information between the virtual GPS satellite and the receiver is determined; Based on the geometric distance information, the pseudorange information is determined using a satellite clock error model and an ionospheric and tropospheric delay model. The Doppler frequency shift information is determined based on the relative motion between the virtual GPS satellite and the receiver.

[0061] In practice, high-fidelity pseudorange and Doppler frequency shift simulation accurately calculates the observations between each virtual GPS satellite and the receiver, enabling downstream GPS terminals to perform real signal acquisition, tracking, and positioning calculations.

[0062] Input data: Instantaneous virtual GPS satellite positions output in the previous step With speed The known reference position of this device .

[0063] Processing flow: a. Pseudorange simulation: Accurately calculate the geometric distance from the virtual satellite to the receiver. Furthermore, the algorithm incorporates satellite clock bias models, relativistic effects, and simplified ionospheric and tropospheric delay models to calculate the final pseudorange observations. : .in At the speed of light, For simulated satellite clock bias, For receiver clock bias, and This is the simulated propagation delay.

[0064] b. Doppler shift simulation: Calculate the line-of-sight vector based on the relative motion between the virtual satellite and the receiver. And calculate the Doppler frequency shift of the carrier. : .in The nominal frequency of the GPS L1 band is 1575.42MHz. This is the receiver speed (usually zero).

[0065] Output: High-fidelity pseudorange that varies precisely over time for each virtual satellite. and Doppler shift This information will be encoded into the C / A code of the GPS digital baseband signal and the phase and frequency of the navigation message, enabling downstream terminals to acquire and track satellites as if they were real satellites.

[0066] Step S230: Perform leap second compensation on the time information in the BeiDou satellite orbit data to obtain leap second compensation information.

[0067] In some exemplary embodiments, BeiDou time ( ) and GPS time ( Synchronous calibration to compensate for leap second differences ,satisfy: = - ; in, This represents the cumulative number of leap seconds.

[0068] Step S240: Encode the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information.

[0069] As an example, based on the ZYNQ7020 FPGA platform, the BeiDou satellite signals (the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information) are converted into GPS digital baseband signals.

[0070] As an example, the BeiDou satellite signal (the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information) is encoded as a GPS digital baseband signal in GPS-NMEA0183 format.

[0071] In some exemplary embodiments, the step of encoding based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information to obtain the GPS digital baseband signal includes: Preview information for determining the leap second compensation information; Before compensation is performed based on the leap second compensation information, the advance information of the leap second compensation information is encoded into a predetermined data frame of the GPS digital baseband signal.

[0072] In some exemplary embodiments, when converting BeiDou time to GPS time, the leap second difference adjustment information (i.e., leap second compensation information) is pre-encoded and inserted into a predetermined data frame of the GPS digital baseband signal according to the GPS navigation message standard format, so as to guide the downstream GPS timing terminal to perform smooth time calibration.

[0073] In specific implementation, in order to solve the BeiDou time ( ) and GPS time ( Leap second differences between ( ) To address potential time jump issues in downstream GPS timing terminals, this disclosure employs a unique seamless leap second compensation mechanism: Leap second warning and smooth insertion mechanism: The system does not adjust time instantaneously when a leap second occurs. Instead, after receiving the leap second warning information issued by the BeiDou system, it writes the leap second adjustment warning in advance into a specific subframe of the generated GPS navigation message (such as page 8 of subframe 4) according to the GPS protocol specifications. This allows downstream GPS terminals to know the leap second information in advance and make preparations, thereby achieving a smooth time transition and avoiding the risk of loss of lock-in due to abrupt time changes.

[0074] In some exemplary embodiments, the BeiDou satellite orbit data includes: BeiDou signal quality information and BeiDou satellite health status information; The process of encoding the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information includes: The BeiDou signal quality information and the BeiDou satellite health status information are mapped into virtual GPS satellite health status information, user ranging accuracy information and ionospheric correction parameters. The GPS digital baseband signal is obtained by encoding the virtual GPS satellite health status information, the user ranging accuracy information, the ionospheric correction parameters, the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information.

[0075] In practice, signal quality and health status simulation is used to ensure that the simulated signal is completely reliable to downstream GPS terminals and to simulate and generate key parameters in GPS navigation messages.

[0076] Input data: Raw signal quality indicators (such as carrier-to-noise ratio) fed back by the BeiDou signal receiving module. (Number of visible satellites) and satellite health status.

[0077] Processing flow: The system dynamically maps the input BeiDou signal quality to parameters such as the health status bits and User Ranging Accuracy (URA) of the virtual GPS constellation. For example, when the BeiDou signal quality deteriorates, the system can proactively mark the corresponding virtual satellite as "unhealthy" or increase its URA value in the generated virtual GPS navigation message. Furthermore, this function can also be used for system testing, verifying the response of downstream equipment by injecting specific fault modes through programming.

[0078] Output: GPS navigation message data frames containing complete and reasonable information such as satellite health status, URA, and ionospheric correction parameters. This closed-loop mechanism, which dynamically adjusts the quality of the output analog signal based on the input signal quality, is not available in traditional fixed data conversion methods, greatly improving the system's robustness and compatibility.

[0079] Step S250: Convert the GPS digital baseband signal into a GPS radio frequency signal, and send the GPS radio frequency signal to the GPS timing terminal so that the GPS timing terminal can perform time synchronization.

[0080] As an example, the GPS digital baseband signal is converted into a GPS radio frequency signal using the AD9363 chip.

[0081] For example, the GPS digital baseband signal is modulated into a GPS standard radio frequency signal (L1 band 1575.42MHz) using the AD9363 radio frequency chip.

[0082] As an example, GPS radio frequency signals include GPS L1 band radio frequency signals with a power range of -130dBm to -100dBm.

[0083] As an example, the modulation process of the GPS radio frequency signal employs direct digital frequency synthesis (DDS) technology, and the signal frequency error... satisfy: ; in, This refers to the DDS clock frequency. The number of bits in the phase accumulator.

[0084] As an example, the output power of the GPS radio frequency signal With the power of the input GPS digital baseband signal AD9363 gain and cable loss The relationship is: = + - ; in, The adjustable range is -40dB to +20dB. Calculated at 0.1dB / m based on cable length; Signal processing delay of the FPGA platform satisfy: = ; in, The number of clock cycles for the protocol conversion algorithm. The operating frequency of ZYNQ7020 is ≥200MHz.

[0085] In some exemplary embodiments, the step of converting the GPS digital baseband signal into a GPS radio frequency signal and sending the GPS radio frequency signal to a GPS timing terminal to enable the GPS timing terminal to perform time synchronization includes: The GPS radio frequency signal is captured and tracked based on the ephemeris information, pseudorange information, and Doppler frequency shift information in the GPS radio frequency signal. The local time is calibrated based on the leap second compensation information in the GPS radio frequency signal.

[0086] In some exemplary embodiments, time synchronization accuracy Errors in BeiDou signal analysis Protocol conversion delay and radio frequency transmission delay Composition, satisfying: = 100ns; in, 50ns, 30ns, 20ns.

[0087] In some exemplary embodiments, the time synchronization scheme based on the BeiDou system provided in the exemplary embodiments of this disclosure further includes: The intelligent management module supports SNMPv2, Web management, and remote upgrades. The intelligent management module integrates a status monitoring interface to provide real-time feedback on parameters such as signal strength, clock accuracy, and power supply voltage. The intelligent management module integrates the SNMPv2 network management protocol and a web-based local management interface, supporting remote software configuration, upgrades, status monitoring, and fault alarms.

[0088] In practice, the remote upgrade process is as follows: Maintenance personnel upload the new firmware version (.bin file) to the intelligent management module through the management platform; After the module verifies the firmware integrity via MD5, it triggers the FPGA program loading process, which takes about 5 minutes. After the upgrade is complete, the system will automatically restart and report a "successful upgrade" status via SNMP.

[0089] Rollback mechanism: If the upgrade fails, the module will automatically activate the backup firmware (the previous version of the program) to prevent system failure. It supports breakpoint resume function, which can resume from the last transmission position after network interruption, adapting to the unstable environment of power private network.

[0090] In some exemplary embodiments, the time synchronization scheme based on the BeiDou system provided in the exemplary embodiments of this disclosure further includes: The power management module supports power supply from -36VDC to -72VDC or 220VAC. The power management module supports isolated power supplies from -36VDC to -72VDC or wide-range power supplies of 220VAC, adapting to complex power environments in power systems.

[0091] In some exemplary embodiments, the time synchronization scheme based on the BeiDou system provided in the exemplary embodiments of this disclosure further includes: A clock hold model based on Kalman filtering is used to predict and maintain the time accuracy and frequency stability of the output GPS radio frequency signal based on historical clock data when the BeiDou signal receiving module is temporarily unable to receive a valid BeiDou satellite signal. Considering the stringent requirements of power systems for time signal stability, a clock hold algorithm based on Kalman filtering was implemented within the FPGA. This algorithm uses the BeiDou 1PPS (1 second pulse) signal as an observation to model and predict the frequency and phase drift of the local high-stability crystal oscillator in real time. When the BeiDou satellite signal is temporarily interrupted, the system can continue to generate highly stable GPS analog signals and 1PPS signals using the clock state predicted by the Kalman filter. This algorithm improves short-term clock stability to within 50ns (1σ), effectively solving the time synchronization continuity problem during signal loss, rather than simply providing a direct signal pass-through.

[0092] The following will describe the time synchronization scheme based on the BeiDou system provided in the exemplary embodiments of this disclosure, in conjunction with specific application scenarios: (1) System deployment: ① Hardware connection: A dedicated BeiDou antenna is installed on the roof of the substation and connected to the indoor BeiDou signal receiving module (TD1052) via a low-loss radio frequency cable. The signal processing module (ZYNQ7020FPGA) is connected to the radio frequency signal conversion module (AD9363) via the SPI interface, and the latter is connected to the antenna input of the original GPS timing terminal via a BNC cable. The intelligent management module connects to the substation monitoring network via an RJ45 network port and links to the remote management platform of the operation and maintenance personnel.

[0093] ② Parameter configuration: Set the system working mode to "GPS simulation" through the web interface, and configure the BeiDou time zone (East 8 zone) and time synchronization period (default 1 second). Enable the SNMPv2 protocol, set the management IP to 192.168.1.100, and allow remote access from the specified IP address (192.168.1.200).

[0094] (2) Workflow: ①Signal reception and analysis: The TD1052 module captures signals from more than three BeiDou satellites, extracts navigation messages from the B1 band, and parses out the current BDT time (e.g., 2025-04-24T10:00:00.000), latitude and longitude (30.123°N, 120.456°E), and satellite orbit parameters.

[0095] ②RF output: The AD9363 modulates the digital signal into a 1575.42MHz radio frequency signal with a power setting of -110dBm, simulating the strength of a real GPS satellite signal. Existing GPS terminals can lock onto the signal without modifying parameters.

[0096] ③ Remote operation and maintenance: Maintenance personnel can access the system's web interface through a browser to view the status of BeiDou satellites (≥4), time synchronization accuracy (displayed as 50ns), power supply voltage (-48VDC), etc. in real time. If the signal strength is detected to be lower than -130dBm, the system will automatically send an SNMP trap to the monitoring center for alarm.

[0097] The following will describe the time synchronization scheme based on the BeiDou system provided in the exemplary embodiments of this disclosure, in conjunction with specific application scenarios: (1) Hardware connection: The antenna of the Beidou signal receiving module is deployed in an open outdoor area and connected to the signal processing module via an RF cable. The digital baseband signal output by the signal processing module is transmitted to the radio frequency signal conversion module via the SPI bus; The radio frequency signal conversion module connects to the antenna input of the existing GPS device via a BNC interface to inject signals.

[0098] (2) Implementation of key technologies: Satellite simulation algorithm: Construct a BeiDou-GPS protocol converter in FPGA to convert BeiDou BDT time to GPS time, compensate for leap second differences, and ensure time continuity; Radio frequency modulation technology: The AD9363 chip supports software-defined radio (SDR), which generates standard GPS radio frequency waveforms through configuration registers and suppresses out-of-band interference; Remote Management: The intelligent management module has a built-in HTTP server and SNMP agent, allowing maintenance personnel to monitor the system status in real time and remotely distribute upgrade packages through a browser or network management platform.

[0099] (3) Adaptation to mixing equipment: The equipment to be modified includes: Device A: Relay protection device with single GPS timing (requires L1 band radio frequency signal); Device B: Dual-mode GPS / BeiDou device (currently operating in GPS priority mode).

[0100] The system outputs two signals simultaneously: First path: GPS radio frequency signal (1575.42MHz) is connected to device A; Second path: Retain the original BeiDou signal output for device B to switch to BeiDou mode.

[0101] (4) Anti-interference optimization: A bandpass filter (BPF) with a center frequency of 1575.42MHz and a bandwidth of ±10MHz was added to the RF output of the AD9363 to suppress 2.4GHz wireless interference commonly found in power systems.

[0102] The FPGA incorporates a Kalman filter algorithm to filter out noise from the original BeiDou time signal, improving short-term stability to ≤50ns (1σ).

[0103] As can be seen from the above, the time synchronization method based on the BeiDou system provided in this disclosure includes: receiving BeiDou satellite signals, parsing the BeiDou satellite signals to obtain BeiDou satellite orbit data; constructing a virtual GPS satellite based on the BeiDou satellite orbit data, performing orbital dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite, performing pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information; performing leap second compensation on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; encoding the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information to obtain a GPS digital baseband signal; converting the GPS digital baseband signal into a GPS radio frequency signal, and sending the GPS radio frequency signal to a GPS timing terminal to enable the GPS timing terminal to perform time synchronization.

[0104] Among these advantages, it eliminates the need for complete replacement or obsolescence of existing equipment, has a shorter construction period, lower renovation costs, and better equipment compatibility. Specifically, this disclosure offers the following technical benefits: Upgrade and reuse: The original GPS equipment is retained, and Beidou can be replaced by adding this system. For example, the cost of upgrading a single station is reduced from 100,000 yuan in the traditional solution to less than 30,000 yuan. Plug and play: No need to modify the original equipment configuration, for example, the construction time is reduced from 3 days to 1 hour; Smooth transition: Supports GPS / BeiDou dual-mode output, providing a buffer period for a full switch to pure BeiDou devices later.

[0105] It should be noted that the method of this disclosure embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this disclosure embodiment, and the multiple devices will interact with each other to complete the method described.

[0106] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0107] Based on the same inventive concept, corresponding to any of the above embodiments, this disclosure also provides a time synchronization device based on the BeiDou system.

[0108] refer to Figure 3 This is a schematic diagram of a time synchronization device based on the BeiDou system provided in an exemplary embodiment of this disclosure.

[0109] The time synchronization device based on the BeiDou system includes the following modules: The BeiDou satellite signal receiving and parsing module 910 is configured to receive BeiDou satellite signals, parse the BeiDou satellite signals, and obtain BeiDou satellite orbit data. The BeiDou satellite orbit data processing module 920 is configured to construct a virtual GPS satellite based on the BeiDou satellite orbit data, perform orbit dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information and ephemeris information of the virtual GPS satellite, and perform pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information. The time information leap second compensation module 930 is configured to perform leap second compensation on the time information in the Beidou satellite orbit data to obtain leap second compensation information. The GPS digital baseband signal encoding module 940 is configured to encode the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information and the leap second compensation information. The GPS timing terminal interaction module 950 is configured to convert the GPS digital baseband signal into a GPS radio frequency signal and send the GPS radio frequency signal to the GPS timing terminal so that the GPS timing terminal can perform time synchronization.

[0110] In some exemplary embodiments, the BeiDou satellite orbit data processing module 920 is specifically configured as follows: The BeiDou satellite orbit data is converted from the BeiDou coordinate system to the GPS coordinate system to obtain GPS satellite status data in the GPS coordinate system. The Kepler root number of the virtual GPS satellite is obtained by performing reverse calculation based on the GPS satellite status data. Based on the Kepler element of the virtual GPS satellite, the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite are obtained in real time through an orbital dynamics model.

[0111] In some exemplary embodiments, the BeiDou satellite orbit data processing module 920 is specifically configured as follows: Based on the instantaneous position information and the velocity information, the geometric distance information between the virtual GPS satellite and the receiver is determined; Based on the geometric distance information, the pseudorange information is determined using a satellite clock error model and an ionospheric and tropospheric delay model. The Doppler frequency shift information is determined based on the relative motion between the virtual GPS satellite and the receiver.

[0112] In some exemplary embodiments, the GPS digital baseband signal encoding module 940 is specifically configured as follows: Preview information for determining the leap second compensation information; Before compensation is performed based on the leap second compensation information, the advance information of the leap second compensation information is encoded into a predetermined data frame of the GPS digital baseband signal.

[0113] In some exemplary embodiments, the BeiDou satellite orbit data includes: BeiDou signal quality information and BeiDou satellite health status information; the GPS digital baseband signal encoding module 940 is specifically configured as follows: The BeiDou signal quality information and the BeiDou satellite health status information are mapped into virtual GPS satellite health status information, user ranging accuracy information and ionospheric correction parameters. The GPS digital baseband signal is obtained by encoding the virtual GPS satellite health status information, the user ranging accuracy information, the ionospheric correction parameters, the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information.

[0114] In some exemplary embodiments, the GPS timing terminal interaction module 950 is specifically configured as follows: The GPS radio frequency signal is captured and tracked based on the ephemeris information, pseudorange information, and Doppler frequency shift information in the GPS radio frequency signal. The local time is calibrated based on the leap second compensation information in the GPS radio frequency signal.

[0115] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing this disclosure, the functions of each module can be implemented in one or more software and / or hardware.

[0116] The apparatus in the above embodiments is used to implement the corresponding time synchronization method based on the BeiDou system in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0117] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the time synchronization method based on the BeiDou system described in any of the above embodiments.

[0118] Figure 4 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0119] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0120] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0121] The input / output interface 1030 is used to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0122] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0123] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0124] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0125] The electronic devices described above are used to implement the corresponding time synchronization methods based on the BeiDou system in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0126] The memory 1020 stores machine-readable instructions executable by the processor 1010. When the electronic device is running, the processor 1010 communicates with the memory 1020 via the bus 1030, causing the processor 1010 to execute the following instructions during operation: Receive BeiDou satellite signals, analyze the BeiDou satellite signals, and obtain BeiDou satellite orbit data; A virtual GPS satellite is constructed based on the BeiDou satellite orbit data. Orbital dynamics are calculated based on the virtual GPS satellite to obtain the instantaneous position information, velocity information and ephemeris information of the virtual GPS satellite. Pseudorange simulation and Doppler frequency shift simulation are performed based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information. Leap second compensation is performed on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; The GPS digital baseband signal is obtained by encoding the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information. The GPS digital baseband signal is converted into a GPS radio frequency signal, and the GPS radio frequency signal is sent to the GPS timing terminal so that the GPS timing terminal can perform time synchronization.

[0127] In one possible implementation, the instructions executed by processor 1010, which include constructing a virtual GPS satellite based on the BeiDou satellite orbit data, performing orbital dynamics calculations based on the virtual GPS satellite, and obtaining the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite, include: The BeiDou satellite orbit data is converted from the BeiDou coordinate system to the GPS coordinate system to obtain GPS satellite status data in the GPS coordinate system. The Kepler root number of the virtual GPS satellite is obtained by performing reverse calculation based on the GPS satellite status data. Based on the Kepler element of the virtual GPS satellite, the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite are obtained in real time through an orbital dynamics model.

[0128] In one possible implementation, the instructions executed by the processor 1010, which include performing pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information, include: Based on the instantaneous position information and the velocity information, the geometric distance information between the virtual GPS satellite and the receiver is determined; Based on the geometric distance information, the pseudorange information is determined using a satellite clock error model and an ionospheric and tropospheric delay model. The Doppler frequency shift information is determined based on the relative motion between the virtual GPS satellite and the receiver.

[0129] In one possible implementation, the instructions executed by the processor 1010, which involve encoding based on the ephemeris information, the pseudorange information, the Doppler shift information, and the leap second compensation information to obtain a GPS digital baseband signal, include: Preview information for determining the leap second compensation information; Before compensation is performed based on the leap second compensation information, the advance information of the leap second compensation information is encoded into a predetermined data frame of the GPS digital baseband signal.

[0130] In one possible implementation, the instructions executed by the processor 1010 include the following in the BeiDou satellite orbit data: BeiDou signal quality information and BeiDou satellite health status information. The process of encoding the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information includes: The BeiDou signal quality information and the BeiDou satellite health status information are mapped into virtual GPS satellite health status information, user ranging accuracy information and ionospheric correction parameters. The GPS digital baseband signal is obtained by encoding the virtual GPS satellite health status information, the user ranging accuracy information, the ionospheric correction parameters, the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information.

[0131] In one possible implementation, the instructions executed by the processor 1010, which include converting the GPS digital baseband signal into a GPS radio frequency signal and sending the GPS radio frequency signal to the GPS timing terminal to enable the GPS timing terminal to perform time synchronization, include: The GPS radio frequency signal is captured and tracked based on the ephemeris information, pseudorange information, and Doppler frequency shift information in the GPS radio frequency signal. The local time is calibrated based on the leap second compensation information in the GPS radio frequency signal.

[0132] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the time synchronization method based on the BeiDou system as described in any of the above embodiments.

[0133] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0134] The aforementioned non-transitory computer-readable storage media can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0135] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the time synchronization method based on the Beidou system as described in any of the embodiments in the exemplary method section above, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0136] Based on the same inventive concept, corresponding to the time synchronization method based on the BeiDou system described in any of the above embodiments, this disclosure also provides a computer program product, which includes computer program instructions. In some embodiments, the computer program instructions can be executed by one or more processors of a computer to cause the computer and / or the processor to execute the time synchronization method based on the BeiDou system. Corresponding to the execution entity for each step in each embodiment of the time synchronization method based on the BeiDou system, the processor executing the corresponding step can belong to the corresponding execution entity.

[0137] The computer program product of the above embodiments is used to cause the computer and / or the processor to execute the time synchronization method based on the Beidou system as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0138] Those skilled in the art will recognize that embodiments of this disclosure can be implemented as a system, method, or computer program product. Therefore, this disclosure can be implemented as entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this disclosure can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0139] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (not exhaustive) of a computer-readable storage medium may include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0140] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0141] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0142] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0143] It should be understood that each block of a flowchart and / or block diagram, as well as combinations of blocks in a flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine that, when executed by a computer or other programmable data processing device, creates means for implementing the functions / operations specified in the blocks of the flowchart and / or block diagram.

[0144] These computer program instructions may also be stored in a computer-readable medium that enables a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce a product comprising an instruction apparatus that implements the functions / operations specified in the boxes of a flowchart and / or block diagram.

[0145] Computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, such that the instructions that execute on the computer or other programmable apparatus can provide a process for implementing the functions / operations specified in the boxes of a flowchart and / or block diagram.

[0146] Furthermore, although the operations of the methods of this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. Rather, the steps depicted in the flowcharts may be executed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. Each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0148] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0149] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0150] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this disclosure, the provided drawings may or may not show well-known power / ground connections to integrated circuit (IC) chips and other components. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this disclosure, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this disclosure will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this disclosure can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0151] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0152] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

[0153] While the spirit and principles of this disclosure have been described with reference to several specific embodiments, it should be understood that this disclosure is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined for benefit; such division is merely for convenience of expression. This disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims is to be interpreted in the broadest sense, thereby encompassing all such modifications and equivalent structures and functions.

Claims

1. A time synchronization method based on the BeiDou system, characterized in that, include: Receive BeiDou satellite signals, analyze the BeiDou satellite signals, and obtain BeiDou satellite orbit data; A virtual GPS satellite is constructed based on the BeiDou satellite orbit data. Orbital dynamics are calculated based on the virtual GPS satellite to obtain the instantaneous position information, velocity information and ephemeris information of the virtual GPS satellite. Pseudorange simulation and Doppler frequency shift simulation are performed based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information. Leap second compensation is performed on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; The GPS digital baseband signal is obtained by encoding the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information. The GPS digital baseband signal is converted into a GPS radio frequency signal, and the GPS radio frequency signal is sent to the GPS timing terminal so that the GPS timing terminal can perform time synchronization.

2. The method according to claim 1, characterized in that, The virtual GPS satellite is constructed based on the BeiDou satellite orbit data, and orbital dynamics are calculated based on the virtual GPS satellite to obtain its instantaneous position, velocity, and ephemeris information, including: The BeiDou satellite orbit data is converted from the BeiDou coordinate system to the GPS coordinate system to obtain GPS satellite status data in the GPS coordinate system. The Kepler root number of the virtual GPS satellite is obtained by performing reverse calculation based on the GPS satellite status data. Based on the Kepler element of the virtual GPS satellite, the instantaneous position information, velocity information, and ephemeris information of the virtual GPS satellite are obtained in real time through an orbital dynamics model.

3. The method according to claim 1, characterized in that, The process of performing pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information includes: Based on the instantaneous position information and the velocity information, the geometric distance information between the virtual GPS satellite and the receiver is determined; Based on the geometric distance information, the pseudorange information is determined using a satellite clock error model and an ionospheric and tropospheric delay model. The Doppler frequency shift information is determined based on the relative motion between the virtual GPS satellite and the receiver.

4. The method according to claim 1, characterized in that, The process of encoding the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information includes: Preview information for determining the leap second compensation information; Before compensation is performed based on the leap second compensation information, the advance information of the leap second compensation information is encoded into a predetermined data frame of the GPS digital baseband signal.

5. The method according to claim 1, characterized in that, The BeiDou satellite orbit data includes: BeiDou signal quality information and BeiDou satellite health status information; The process of encoding the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information includes: The BeiDou signal quality information and the BeiDou satellite health status information are mapped into virtual GPS satellite health status information, user ranging accuracy information and ionospheric correction parameters. The GPS digital baseband signal is obtained by encoding the virtual GPS satellite health status information, the user ranging accuracy information, the ionospheric correction parameters, the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information.

6. The method according to claim 1, characterized in that, The step of converting the GPS digital baseband signal into a GPS radio frequency signal and sending the GPS radio frequency signal to the GPS timing terminal to enable the GPS timing terminal to perform time synchronization includes: The GPS radio frequency signal is captured and tracked based on the ephemeris information, pseudorange information, and Doppler frequency shift information in the GPS radio frequency signal. The local time is calibrated based on the leap second compensation information in the GPS radio frequency signal.

7. A time synchronization device based on the BeiDou system, characterized in that, include: The BeiDou satellite signal receiving and parsing module is configured to receive BeiDou satellite signals, parse the BeiDou satellite signals, and obtain BeiDou satellite orbit data. The BeiDou satellite orbit data processing module is configured to construct a virtual GPS satellite based on the BeiDou satellite orbit data, perform orbit dynamics calculations based on the virtual GPS satellite to obtain the instantaneous position information, velocity information and ephemeris information of the virtual GPS satellite, and perform pseudorange simulation and Doppler frequency shift simulation based on the instantaneous position information and the velocity information to obtain pseudorange information and Doppler frequency shift information. The time information leap second compensation module is configured to perform leap second compensation on the time information in the BeiDou satellite orbit data to obtain leap second compensation information; The GPS digital baseband signal encoding module is configured to encode the GPS digital baseband signal based on the ephemeris information, the pseudorange information, the Doppler frequency shift information, and the leap second compensation information. The GPS timing terminal interaction module is configured to convert the GPS digital baseband signal into a GPS radio frequency signal and send the GPS radio frequency signal to the GPS timing terminal so that the GPS timing terminal can perform time synchronization.

8. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing the computer to perform the method of any one of claims 1 to 6.

10. A computer program product, characterized in that, It includes computer program instructions that, when run on a computer, cause the computer to perform the method as described in any one of claims 1 to 6.

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