Positioning time service base station, method, storage medium and program product

Abstract

The invention provides a positioning time service base station, a positioning time service method, a storage medium and a program product, relates to the field of communication, and can solve the problems that an existing positioning time service scheme is high in construction, operation and maintenance cost and has a service blind area. The base station comprises a GNSS receiver chip, a crystal oscillator, a data acquisition and processing unit and a radio frequency unit, the GNSS receiver chip is used for receiving more than two frequency point signals at the same time; wherein the frequency point signal comes from a satellite navigation system; the crystal oscillator is used for providing time reference; the data acquisition and processing unit is used for receiving observation data of the satellite navigation system; performing differential calculation at least based on the observation data to obtain differential correction data; wherein the differential correction data is used for the terminal equipment to carry out positioning correction or time service correction; a radio frequency unit; and the radio frequency unit is used for sending the differential correction data to terminal equipment located in a service area of the positioning time service base station.

Description

Technical Field

[0001] This application relates to the field of communications, and in particular to a positioning and timing base station, method, storage medium, and program product. Background Technology

[0002] Precision positioning and timing technology is a key infrastructure of modern information society, with wide applications in surveying, transportation, drones, agriculture, power, finance, and other fields. However, existing solutions are costly and lack sufficient coverage. Summary of the Invention

[0003] This application provides a positioning and timing base station, method, storage medium, and program product, which can solve the problems of high construction and maintenance costs and service blind spots in existing positioning and timing solutions.

[0004] In a first aspect, this application provides a positioning and timing base station, which includes: a Global Navigation Satellite System (GNSS) receiver chip, a crystal oscillator, a data acquisition and processing unit, and a radio frequency unit; wherein the data acquisition and processing unit is communicatively connected to the GNSS receiver chip, the crystal oscillator, and the radio frequency unit; the GNSS receiver chip is used to simultaneously receive signals from two or more frequency points; wherein the frequency point signals originate from the satellite navigation system; the crystal oscillator is used to provide a time reference; the data acquisition and processing unit is used to receive observation data from the satellite navigation system; and performs differential calculations based at least on the observation data to obtain differential correction data; the differential correction data is used by terminal devices for positioning correction or timing correction; and the radio frequency unit is used to transmit the differential correction data to terminal devices located within the service area of ​​the positioning and timing base station.

[0005] This application provides a positioning and timing base station capable of providing integrated positioning, navigation, timing, and communication (PNTC) services on the basis of existing communication base stations. This base station upgrades existing communication base stations by replacing the original single positioning / timing chip with a GNSS receiver chip, adding a high-stability crystal oscillator (such as an oven-controlled crystal oscillator, OCXO) as a local clock reference to improve the accuracy and stability of observations; adding a data acquisition and processing unit to receive observation data from the satellite navigation system and output differential correction data; and reusing the existing radio frequency unit to communicate with terminal equipment, enabling the communication base station to achieve differential timing and differential positioning. Thus, there is no need to build and maintain dedicated positioning and timing equipment, improving positioning and timing accuracy while reducing costs. In summary, this application can construct a wide-coverage, densely covered network capable of simultaneously providing centimeter-level positioning and sub-nanosecond-level timing services at low cost.

[0006] One possible implementation is that the differential correction data includes differential positioning data and differential time synchronization data; differential calculation is performed based on at least the observation data to obtain the differential correction data, including: differential calculation based on the observation data and local coordinate data to obtain differential positioning data; differential calculation based on the observation data and local clock difference data to obtain differential time synchronization data.

[0007] Another possible implementation is that the differential correction data includes: correction value, service type identifier, data validity timestamp, and base station identifier; wherein, the service type identifier is used to indicate whether the differential correction data is differential positioning data or differential timing data.

[0008] Another possible implementation involves sending differential correction data to terminal devices located within the service area of ​​the positioning and timing base station, including: encapsulating differential correction data, satellite health status, and data integrity identifier into a differential correction data message, and sending the differential correction data message to terminal devices located within the service area of ​​the positioning and timing base station.

[0009] Another possible implementation involves observing data including pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

[0010] Another possible implementation includes: sending the observation data to a data processing center at least once; wherein the data processing center is used to perform differential calculations based at least on the observation data to obtain differential correction data; and sending the differential correction data to terminal devices located within the service area of ​​the positioning and timing base station.

[0011] Secondly, this application provides a positioning and timing method applied to a data processing center, comprising: receiving at least observation data sent by a positioning and timing base station; performing differential calculation based at least on the observation data to obtain differential correction data; and sending the differential correction data to a terminal device located within the service area of ​​the positioning and timing base station.

[0012] This application provides a positioning and timing method. A data processing center can receive observation data sent by various positioning and timing base stations; perform differential calculations based on the observation data to obtain differential correction data; and send the differential correction data to terminal devices located within the service area of ​​the positioning and timing base stations. This scheme obtains positioning and timing base stations by modifying existing communication base stations and performs satellite signal reception and observation data collection. It eliminates the need for constructing and maintaining dedicated positioning and timing equipment, sharing the site, equipment room, and dedicated lines of the communication base stations. Then, relying on the powerful computing capabilities of the data processing center, high-precision joint processing is performed. Through multi-base station data fusion and error model calculation, the impact of single-station observation noise and multipath on observation accuracy can be reduced. In summary, this application can improve positioning and timing accuracy and reduce positioning and timing costs.

[0013] One possible implementation is that the differential correction data includes differential positioning data and differential timing data; differential calculation is performed based on at least the observation data to obtain the differential correction data, including: differential calculation based on the observation data and the local coordinate data of the positioning and timing base station to obtain differential positioning data; differential calculation based on the observation data and the local clock difference data of the positioning and timing base station to obtain differential timing data.

[0014] Another possible implementation is that the differential correction data includes: correction value, service type identifier, data validity timestamp, and base station identifier; wherein, the service type identifier is used to indicate whether the differential correction data is differential positioning data or differential timing data.

[0015] Another possible implementation involves sending differential correction data to terminal devices located within the service area of ​​the positioning and timing base station, including: encapsulating differential correction data, satellite health status, and data integrity identifier into a differential correction data message, and sending the differential correction data message to terminal devices located within the service area of ​​the positioning and timing base station.

[0016] Another possible implementation involves observing data including pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

[0017] Thirdly, this application provides a positioning and timing device, which is applied in a data processing center and includes: a receiving module, a calculation module and a sending module; The receiving module is used to receive at least the observation data sent by the positioning and timing base station; the solving module is used to perform differential calculation based on the observation data to obtain differential correction data; and the sending module is used to send the differential correction data to the terminal device located within the service area of ​​the positioning and timing base station.

[0018] One possible implementation is that the differential correction data includes differential positioning data and differential timing data; the solution module is specifically used to: perform differential calculation based on the observation data and the local coordinate data of the positioning and timing base station to obtain differential positioning data; and perform differential calculation based on the observation data and the local clock difference data of the positioning and timing base station to obtain differential timing data.

[0019] Another possible implementation is that the differential correction data includes: correction value, service type identifier, data validity timestamp, and base station identifier; wherein, the service type identifier is used to indicate whether the differential correction data is differential positioning data or differential timing data.

[0020] Another possible implementation is that the sending module is specifically used to: encapsulate differential correction data, satellite health status and data integrity identifier into differential correction data messages, and send the differential correction data messages to terminal devices located within the service area of ​​the positioning and timing base station.

[0021] Another possible implementation involves observing data including pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

[0022] Fourthly, this application provides a readable storage medium comprising: software instructions; when the software instructions are executed in an electronic device, they cause the electronic device to implement the method described in the second aspect.

[0023] Fifthly, this application provides a computer program product that, when run on an electronic device, causes the electronic device to perform the steps of the relevant method described in the second aspect above, so as to implement the method of the second aspect above.

[0024] The beneficial effects of the third to fifth aspects mentioned above are described in the corresponding descriptions of the first to second aspects, and will not be repeated here. Attached Figure Description

[0025] Figure 1 This application provides a schematic diagram of the architecture of a positioning and timing system. Figure 2 This application provides a schematic diagram of the structure of a positioning and timing base station; Figure 3 A schematic diagram of a base station module modification scheme provided in this application; Figure 4 A flowchart illustrating a positioning and timing method provided in this application; Figure 5 A flowchart illustrating another positioning and timing method provided in this application; Figure 6 This application provides a schematic diagram of the structure of a positioning and timing device. Figure 7 This is a schematic diagram of the composition of an electronic device provided in this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] It should be noted that in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0028] To facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish the same or similar items with essentially the same function and effect. Those skilled in the art can understand that the terms "first" and "second" are not intended to limit the quantity or execution order.

[0029] High-precision positioning and timing technology is a critical infrastructure of modern information society, widely used in surveying and exploration, intelligent transportation, drone control, precision agriculture, power system synchronization, financial transaction timestamps, and many other fields. The basic service performance of GNSS is no longer sufficient to meet the ever-increasing demand for precise positioning and timing. Taking the BeiDou Navigation Satellite System as an example, its basic positioning and timing service accuracies are 10m and 20ns, respectively. However, autonomous driving, next-generation communication technologies, and precision measurement and control have further raised the demand for real-time centimeter-level positioning and sub-nanosecond-level timing.

[0030] Currently, high-precision positioning and timing mainly rely on ground-based augmentation systems. These systems require a positioning reference station every 40 kilometers, resulting in high construction and maintenance costs. Improving satellite timing accuracy necessitates purchasing high-precision time servers or independently constructing differential timing reference stations, which are also very expensive. Existing technologies allow 5G base stations to perform timing via GNSS, but this is only used for time synchronization within communication networks, and the timing accuracy is relatively low, failing to meet the needs of collaborative applications such as 5G base station positioning and sensing. Currently, achieving centimeter-level high-precision positioning and nanosecond-level high-precision timing primarily relies on the following technological approaches: 1. BeiDou / GNSS Ground-Based Augmentation System To improve GNSS positioning accuracy, a ground-based positioning augmentation scheme is typically employed. This scheme involves establishing several continuously operating reference stations (CORS) at regular intervals (usually 30-50 kilometers) within a given area. Each CORS is equipped with a high-precision GNSS receiver, antenna, communication equipment, and a stable power supply. It continuously receives satellite signals, generates differential correction data containing information such as satellite orbital errors, clock errors, and ionospheric / tropospheric delays, and broadcasts this data to users within the area via the internet, radio, or satellite. Upon receiving the differential correction data, user terminals perform real-time dynamic kinematic (RTK) calculations with their own observations to eliminate positioning errors and achieve centimeter-level positioning accuracy.

[0031] 2. Dedicated high-precision time synchronization system Satellite point-to-point time synchronization relies on user terminals directly receiving time signals broadcast by satellites. Due to various error factors during satellite signal transmission, the synchronization accuracy is typically only around 20ns. To address the low accuracy of satellite point-to-point time synchronization, dedicated differential time synchronization technology has been developed. This approach is similar in principle to high-precision positioning CORS station networks, requiring the construction of one or more dedicated time synchronization reference stations with known precise coordinates and time information. The reference stations continuously observe time synchronization data, compare their local time with the GNSS system time, calculate the real-time clock difference correction, and broadcast these corrections to users within their range. By applying these corrections, users can improve their local time accuracy to sub-nanosecond levels. This approach requires the separate construction of reference station hardware, supporting equipment rooms, and an operation and maintenance system, resulting in high construction and subsequent maintenance costs.

[0032] 3. Communication base station timing scheme Existing 5G communication base stations also have built-in GNSS timing modules, but their positioning accuracy is low, only sufficient for general time synchronization tasks. Current 5G communication base stations primarily handle communication signal transmission. Their baseband processing units (BBUs) are equipped with timing modules, typically using simple single-frequency GNSS receivers to receive satellite (such as BeiDou and GPS) signals and output pulse-of-seconds (PPS) and timestamp (ToD) information to ensure communication synchronization between base stations. The core function of this timing module is limited to providing communication synchronization support within the base station, resulting in low accuracy. Its closed system design does not output raw satellite observation data (such as pseudorange and carrier phase), therefore it lacks high-precision positioning and differential timing capabilities. Alternatively, ground-based timing can be achieved via fiber optic cables, but this is costly, and the inflexibility of time transmission via fiber optics limits the application scenarios for high-precision timing.

[0033] In existing technologies, although CORS systems can achieve high-precision positioning and independent differential timing base stations can also improve timing accuracy, their construction and maintenance costs are high; the timing module of 5G base stations has a single function and has not fully explored its application potential in the fields of positioning and timing. None of the above technical solutions can simultaneously meet the positioning and timing requirements of high precision, low cost, and efficient resource utilization.

[0034] Based on the above description of the existing technology, it has the following main drawbacks: 1. High construction and operation costs: CORS stations and dedicated timing base stations require the construction of a complete set of infrastructure, with large upfront investments and the need for dedicated personnel for subsequent maintenance, which restricts the popularization of the technology.

[0035] 2. Data broadcasting has bottlenecks. Traditional network user plane transmission modes suffer from high latency and easy exposure of privacy, making them unsuitable for low-latency scenarios such as low-altitude economy.

[0036] 3. Insufficient utilization of resources: CORS stations, dedicated timing stations and 5G base stations are functionally separated, and the hardware and infrastructure potential of 5G base stations has not been fully realized in the field of high-precision positioning and timing.

[0037] 4. Poor coverage: CORS stations are limited by geographical, land acquisition, and power access conditions, making it difficult to achieve uniform coverage and resulting in service blind spots.

[0038] Based on this, embodiments of this application provide a positioning and timing base station, which includes: a GNSS receiver chip, a crystal oscillator, a data acquisition and processing unit, and a radio frequency unit; the GNSS receiver chip is used to simultaneously receive signals from two or more frequency points; wherein, the frequency point signals originate from a satellite navigation system; the crystal oscillator is used to provide a time reference; the data acquisition and processing unit is used to receive observation data from the satellite navigation system; and performs differential calculations based at least on the observation data to obtain differential correction data; wherein, the differential correction data is used by terminal devices for positioning correction or timing correction; the radio frequency unit is used to transmit the differential correction data to terminal devices located within the service area of ​​the positioning and timing base station.

[0039] This application enables the provision of integrated PNTC services based on existing communication base stations. The base station is upgraded by replacing the original single positioning / timing chip with a GNSS receiver chip, adding a high-stability crystal oscillator (such as a temperature-controlled crystal oscillator OCXO) as a local clock reference to improve the accuracy and stability of observations; adding a data acquisition and processing unit to receive observation data from the satellite navigation system and output differential correction data; and reusing the site, equipment room, transmission, and power resources (e.g., radio frequency unit) to communicate with terminal equipment. This allows the communication base station to achieve differential timing and differential positioning, eliminating the need to build and maintain dedicated positioning and timing equipment, thus improving positioning and timing accuracy while reducing costs. In summary, this application can construct a wide-coverage, densely covered network capable of simultaneously providing centimeter-level positioning and sub-nanosecond-level timing services at low cost, solving the problems of high cost, coverage difficulties, broadcasting difficulties, and resource waste inherent in existing solutions.

[0040] Figure 1 This application provides a schematic diagram of the architecture of a positioning and timing system, as shown below. Figure 1 As shown, the system includes: satellite 10, positioning and timing base station 20, data processing center 30, terminal equipment 40 and back-end management platform 50.

[0041] Among them, the positioning and timing base station 20 is a PNTC integrated base station obtained by modifying a communication base station.

[0042] Among them, satellite 10 communicates with positioning and timing base station 20 through GNSS antenna; positioning and timing base station 20 communicates with data processing center 30, terminal equipment 40 and back-end management platform 50 respectively.

[0043] For example, there may be one or more satellites 10. Figure 1 Four are shown in the image.

[0044] For example, the positioning and timing base station 20 can be one or more. Figure 1 Only one is shown in the image.

[0045] In some embodiments, the positioning and timing base station 20 is used to receive observation data from a satellite navigation system; perform differential calculations based at least on the observation data to obtain differential correction data; use the differential correction data for the terminal device 40 to perform positioning correction or timing correction; and send the differential correction data to the terminal device 40 located within the service area of ​​the positioning and timing base station 20.

[0046] For example, raw GNSS data is obtained by receiving signals from satellite 10 through a GNSS antenna, and then processed by a modified timing and positioning BBU to obtain observation data.

[0047] The modified timing and positioning BBU includes a timing observation data acquisition and processing module and a positioning observation data acquisition and processing module, and has the ability to output BeiDou satellite pseudorange and carrier observation values.

[0048] In other embodiments, the positioning and timing base station 20 is used to receive observation data from the satellite navigation system and send the observation data to the data processing center 30.

[0049] For example, the processed observation data is transmitted to the data processing center 30 via the backhaul network of the positioning and timing base station 20.

[0050] In some embodiments, the data processing center 30 is used to receive at least the observation data sent by the positioning and timing base station 20; perform differential calculation based at least on the observation data to obtain differential correction data; and send the differential correction data to the terminal device 40 located within the service area of ​​the positioning and timing base station 20.

[0051] For example, the differential correction data includes differential positioning data and differential timing data. The data processing center 30 receives the observation data from each positioning and timing base station 20, performs error modeling and joint high-precision calculation, generates differential positioning data and differential timing data, and broadcasts them to various terminal devices 40 (such as drones, autonomous vehicles, mobile phones, etc.) through the control plane playback link or user plane playback link of the communication network.

[0052] Among them, the control plane playback link broadcasts differential positioning data and differential timing data to various terminal devices 40 through the core network 60 and the positioning and timing base station 20; the user plane playback link broadcasts differential positioning data and differential timing data directly to various terminal devices 40.

[0053] For example, core network 60 includes Access and Mobility Management Function (AMF) and Location Management Function (LMF).

[0054] Differential positioning data can also be called positioning error correction information; differential timing data can also be called timing error correction information.

[0055] For example, the data processing center 30 includes at least one of the following functions: error modeling and solving, differential data broadcasting, positioning data processing, and timing error calculation.

[0056] In some embodiments, the terminal device 40 uses the received positioning error correction information to perform RTK calculation to achieve centimeter-level positioning; or uses the timing error correction information for compensation to achieve high-precision time synchronization.

[0057] In some embodiments, the back-end management platform 50 is used to monitor and manage the status and service quality of each positioning and timing base station 20.

[0058] For example, the back-end management platform 50 includes at least one of the following functions: base station status monitoring, data quality monitoring, satellite antenna monitoring, and terminal access management, and can optimize the broadcasting strategy of differential correction data according to regional needs.

[0059] It should be noted that, Figure 1 This is just an example architecture diagram. Figure 1 The number of devices included and the names of each device are unlimited; and except for Figure 1 In addition to the devices shown, the positioning and timing system may also include other devices.

[0060] The application scenarios of the embodiments disclosed herein are not limited. The framework architecture and business scenarios described in the embodiments of this disclosure are for the purpose of more clearly illustrating the technical solutions of the embodiments of this disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of this disclosure. As those skilled in the art will know, with the evolution of architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this disclosure are also applicable to similar technical problems.

[0061] Figure 2 This is a schematic diagram of the structure of a positioning and timing base station provided in an embodiment of this application. Figure 2 As shown, the positioning and timing base station includes: a GNSS receiver chip 21, a crystal oscillator 22, a data acquisition and processing unit 23, and a radio frequency unit 24; wherein, the data acquisition and processing unit 23 is communicatively connected to the GNSS receiver chip 21, the crystal oscillator 22, and the radio frequency unit 24.

[0062] The GNSS receiver chip 21 is used to receive signals from two or more frequency points simultaneously; the frequency points originate from the satellite navigation system.

[0063] Crystal 22 is used to provide a time reference.

[0064] The data acquisition and processing unit 23 is used to receive observation data from the satellite navigation system; at least based on the observation data, differential calculation is performed to obtain differential correction data; the differential correction data is used by the terminal equipment for positioning correction or timing correction.

[0065] The radio frequency unit 24 is used to send differential correction data to terminal devices located within the service area of ​​the positioning and timing base station.

[0066] In some embodiments, the observation data includes: pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

[0067] For example, satellite ephemeris includes: satellite clock bias, orbital parameters, etc.

[0068] In some embodiments, the differential correction data includes differential positioning data and differential time synchronization data; differential calculation is performed based at least on the observation data to obtain the differential correction data, including: differential calculation is performed based on the observation data and local coordinate data to obtain differential positioning data; differential calculation is performed based on the observation data and local clock difference data to obtain differential time synchronization data.

[0069] For example, an algorithm (such as the least squares method) is used to analyze and calculate the main error components affecting the timing accuracy, including: satellite clock error, ionospheric delay error, and tropospheric delay error, to obtain timing error correction values ​​as differential timing data.

[0070] In some embodiments, the differential correction data includes: correction value, service type identifier, data validity timestamp, and base station identifier.

[0071] The service type identifier is used to indicate whether the differential correction data is differential positioning data or differential timing data.

[0072] In some embodiments, sending differential correction data to a terminal device located within the service area of ​​a positioning and timing base station includes: encapsulating differential correction data, satellite health status, and data integrity identifier into a differential correction data message, and sending the differential correction data message to the terminal device located within the service area of ​​the positioning and timing base station.

[0073] In some embodiments, the radio frequency unit is also used to: at least send the observation data to the data processing center.

[0074] The data processing center is used to perform differential calculations based on at least the observation data to obtain differential correction data; and to send the differential correction data to terminal devices located within the service area of ​​the positioning and timing base station.

[0075] The following is a specific embodiment illustrating the modification scheme involved in transforming a communication base station into a positioning and timing base station in this application.

[0076] For example, a positioning and timing base station (i.e., an integrated PNTC base station) is obtained by modifying the hardware and software of the timing module in the communication base station BBU. Figure 3 As shown, the specific renovation plan is as follows: (1) Hardware modification: Traditional communication base station timing modules contain only a single-frequency or dual-frequency GNSS receiver, outputting timing signals for communication synchronization. These timing signals include a pulse per second (PPS) and a time stamp (ToD). This invention modifies these modules as follows: A. Core chip upgrade: The original single positioning / timing chip is replaced with a multi-frequency, multi-system high-precision GNSS receiver chip (supporting BDS B1 / B2 / B3, GPS L1 / L2 / L5 and other frequency points) to receive multiple frequency points of multiple satellite systems at the same time, providing a basis for generating high-precision carrier phase observation values.

[0077] B. Enhance the clock source: Add a high-stability crystal oscillator (such as a temperature-controlled crystal oscillator OCXO) as a local clock reference. Its short-term and long-term frequency stability is significantly better than that of ordinary crystal oscillators, providing a stable and reliable time reference for carrier phase observations, thereby improving the quality and accuracy of the observations.

[0078] C. Add a data acquisition and processing unit: An additional signal acquisition interface is added to collect and output raw observation data from BeiDou and other GNSS satellites in real time, including pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

[0079] Add a dedicated data processing chip (such as an FPGA or high-performance MCU with built-in positioning data processing algorithm and timing error calculation module) and a data cache unit (RAM) to perform real-time or near-real-time preprocessing on the massive amount of raw observation data collected, including data format conversion, gross error removal, preliminary filtering to reduce noise interference, and temporary data caching to ensure its integrity and avoid loss during transmission.

[0080] D. Interface Expansion and Upgrade: The interface between the chip and the BBU main processor will be upgraded to a high-speed data interface (such as PCIe or Gigabit Ethernet) to meet the requirements for high-speed and stable transmission of massive amounts of observation data.

[0081] It reserves an external clock input / output interface for connecting to a higher-level reference clock (such as a rubidium atomic clock) or outputting a synchronization signal, providing flexibility for future performance improvements and system expansion.

[0082] (2) Software / Firmware Upgrade: The firmware of the timing module and the system software of the BBU were upgraded collaboratively to add data generation, processing, and forwarding capabilities while ensuring that the original communication synchronization function of the base station was not affected. The core content of the software upgrade includes: A. Firmware Layer Upgrade – Raw Observation Data Generation and Output: A raw observation data output function is added to the underlying firmware of the timing module. This drives the multi-frequency GNSS receiver chip to generate and output a complete raw observation data stream containing information such as pseudorange, carrier phase, Doppler shift, signal-to-noise ratio (SNR), and satellite ephemeris at a specific frequency (e.g., once per second).

[0083] B. System-Level Upgrade – Data Proxy and Encapsulated Transmission: At the BBU system software level, a dedicated data encapsulation and transmission proxy service is added. This service is responsible for: Data encapsulation: Receive the raw data stream from the timing module and package and format it along with metadata such as the base station's unique identifier ID (e.g., CID), precise coordinates (obtained through Precise Point Positioning (PPP) or traditional geodetic surveying), and equipment status information (e.g., health status, clock bias).

[0084] Data transmission: The encapsulated data packets are transmitted in real time or near real time to a centralized data processing center at a remote location via the base station's backhaul network (such as an IP network) for subsequent high-precision calculations.

[0085] C. Functional Layer Upgrade – Advanced Data Processing Functions (Optional): For base station models with ample computing resources, a localized differential correction data calculation module can be built into the software stack. For example, this module utilizes the known precise coordinates and real-time observations of the communication base station to quickly calculate the satellite pseudorange differential correction amount, generate a simplified version of the differential correction information (such as RTCMCMROB type messages), and directly broadcast it to terminal devices in the vicinity via the 5G air interface in a broadcast or multicast manner, providing them with high-precision rapid positioning services and accurate timing services, thus relieving the computing and broadcasting pressure on the data processing center.

[0086] After completing the above hardware and software modifications, the module becomes a dual-output system: First, it maintains high-precision output of pulse-per-second (PPS) and timestamp (ToD), i.e., communication synchronization time signals, ensuring that the base station's own communication synchronization function is not affected in any way; Second, it outputs complete BeiDou / GNSS raw observation data or locally calculated differential correction data in parallel. The differential correction data includes differential positioning data and differential timing data, thereby giving the communication base station a new capability as an RTK reference station or differential correction data source.

[0087] This application modifies the timing module of the communication base station BBU to enable the communication base station to have the functions of an independent positioning reference station (such as a BeiDou CORS station) and a dedicated timing reference station. It reuses the existing hardware resources, equipment room facilities, power system and network resources of the communication base station, fully explores the resource potential of the communication base station, reduces the construction needs of dedicated stations, solves the problems of resource waste and high cost of the existing BeiDou CORS system, and provides users with one-stop communication, positioning and timing services.

[0088] The positioning and timing system includes two optional implementation paths for the positioning and timing implementation scheme: centralized joint calculation mode and distributed base station calculation mode.

[0089] Among them, the distributed base station computing mode refers to the fact that each positioning and timing base station has the above-mentioned advanced data processing functions, that is, each positioning and timing base station locally completes the generation and broadcast of differential correction data. This mode is suitable for local scenarios with extremely high real-time requirements or where the central network is interrupted.

[0090] Among them, the centralized joint solution mode refers to the data processing center being responsible for receiving the observation data sent by each positioning and timing base station, and completing the generation and broadcasting of differential correction data. This mode is suitable for scenarios with low real-time requirements or where the computing power resources of the positioning and timing base stations do not support it.

[0091] The following section explains the positioning and timing methods involved in the centralized joint solution model.

[0092] Figure 4 This is a flowchart illustrating a positioning and timing method provided in an embodiment of this application. Figure 4 As shown, this method is applied to a data processing center and includes steps S41-S43: S41. At least receive observation data sent by the positioning and timing base station.

[0093] In some embodiments, the observation data includes: pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

[0094] For example, satellite ephemeris includes satellite clock bias, orbital parameters, etc.

[0095] In some embodiments, at least one of observation data, local coordinate data, and local clock difference data sent by a positioning and timing base station is received.

[0096] S42. Perform differential calculations based at least on the observed data to obtain differentially corrected data.

[0097] In some embodiments, the differential correction data includes: correction value, service type identifier, data validity timestamp, and base station identifier.

[0098] The service type identifier is used to indicate whether the differential correction data is differential positioning data or differential timing data.

[0099] In some embodiments, the differential correction data includes differential positioning data and differential timing data. Step S42 includes: performing differential calculation based on the observation data and the local coordinate data of the positioning and timing base station to obtain differential positioning data; and performing differential calculation based on the observation data and the local clock difference data of the positioning and timing base station to obtain differential timing data.

[0100] For example, algorithms such as Kalman filtering or least squares estimation are used for joint network RTK calculation. This process not only solves for space-related errors such as satellite orbit errors and ionospheric / tropospheric delays, but more importantly, it can accurately estimate the real-time difference between the local clock of each base station and the standard time of the GNSS system.

[0101] S43. Send the differential correction data to the terminal equipment located within the service area of ​​the positioning and timing base station.

[0102] In some embodiments, differential correction data, satellite health status, and data integrity identifier are encapsulated into a differential correction data message, and the differential correction data message is sent to a terminal device located within the service area of ​​the positioning and timing base station.

[0103] This application provides a positioning and timing method. A data processing center can receive observation data sent by various positioning and timing base stations; perform differential calculations based on the observation data to obtain differential correction data; and send the differential correction data to terminal devices located within the service area of ​​the positioning and timing base stations. This scheme obtains positioning and timing base stations by modifying existing communication base stations and performs satellite signal reception and observation data collection. It eliminates the need for constructing and maintaining dedicated positioning and timing equipment, sharing the site, equipment room, and dedicated lines of the communication base stations. Then, relying on the powerful computing capabilities of the data processing center, high-precision joint processing is performed. Through multi-base station data fusion and error model calculation, the impact of single-station observation noise and multipath on observation accuracy can be reduced. In summary, this application can improve positioning and timing accuracy and reduce positioning and timing costs.

[0104] The following example illustrates the centralized joint solution mode and the distributed base station computing mode.

[0105] First, the centralized joint solution model: This model relies on the powerful computing capabilities of the data processing center for high-precision joint processing. Taking differential time synchronization data as an example... Figure 5 As shown, its data processing flow is as follows: 1.1 Data Acquisition and Upload: All the upgraded PNTC integrated base stations (hereinafter referred to as base stations) in the area continuously receive GNSS satellite signals such as Beidou, and upload their original observation data (pseudorange, carrier phase) and local clock bias data to the central data processing center in real time through the communication backhaul network.

[0106] 1.2 Data quality check: This includes operations such as format conversion, cycle slip detection, and gross error removal.

[0107] If the quality check meets the requirements, proceed to step 1.3; otherwise, discard the data.

[0108] 1.3 Joint Solution: After receiving data from all base stations, the data processing center performs joint network RTK solution using algorithms such as Kalman filtering or least squares method. This process can solve for space-related errors such as satellite orbit errors and ionospheric / tropospheric delays, and can also accurately estimate the real-time difference between the local clock of each base station and the standard time of the GNSS system.

[0109] 1.4 Error Modeling: The real-time clock difference of each base station is calculated as the core timing error correction quantity for modeling.

[0110] For example, the data processing center uses spatial correlation error models (such as ionospheric / tropospheric delay models and satellite orbit models) to eliminate systematic errors within the region and generate more accurate error correction information.

[0111] 1.5 Message Generation: Error correction information, satellite health status, data integrity identifiers, and other information are encapsulated together into a dedicated differential timing data message.

[0112] 1.6 Data Broadcasting: The generated standard differential timing data packets are broadcast to terminal devices within the service area via a communication network (e.g., a 5G network) (multiplexing control plane broadcast or user plane unicast channels).

[0113] 1.7 Terminal Time Correction: After receiving the message, the terminal device applies it to the original time signal (such as 1PPS and ToD) output by its own GNSS receiver to correct it, thereby improving the accuracy of the local time from tens of nanoseconds in single-point time synchronization to several nanoseconds in network differential time synchronization.

[0114] Secondly, the distributed base station computing mode.

[0115] This mode completes the main error calculation locally at a single positioning and timing base station. Taking differential timing data as an example, the data processing flow is as follows: 2.1 Continuous observation of timing data: The PNTC integrated base station obtained by the single modification receives GNSS satellite signals such as Beidou in real time, records the difference between the arrival time of the satellite signal and the local time, and obtains satellite ephemeris data (including satellite clock difference, orbital parameters, etc.) through the network.

[0116] 2.2 Local time synchronization error calculation: In the error calculation module added locally at the base station, based on the above observation data and ephemeris data, an algorithm (such as the least squares method) is used to analyze and calculate the main error components affecting the time synchronization accuracy, including: satellite clock error, ionospheric delay error, and tropospheric delay error.

[0117] 2.3 Local Differential Correction Data Generation and Broadcasting: The calculated comprehensive timing error correction value is encapsulated into differential timing data packets locally at the base station and broadcast directly to near-field terminal devices within its coverage area through the 5G air interface link of the base station.

[0118] Terminal devices can receive differential time synchronization data broadcast in any of the above modes to perform high-precision correction of local time and achieve nanosecond-level time synchronization.

[0119] This application can improve timing accuracy and reduce timing cost: by performing continuous observation and error calculation, high-precision differential timing data is generated to achieve sub-nanosecond timing accuracy. At the same time, communication base station resources are reused, eliminating the need to build dedicated differential timing base stations, thus solving the problems of insufficient satellite single-point timing accuracy and high cost of dedicated differential timing base stations.

[0120] The following provides examples of the data transmission schemes involved in this application.

[0121] (1) Data encapsulation: The PNTC integrated base station or data processing center encapsulates the generated differential positioning data and differential timing data according to the protocol stack of the 5G network (such as the application layer and the transport layer), and finally adapts them to the transmission protocol of the 5G wireless air interface to form a standard data packet that conforms to the 5G network transmission format.

[0122] The data packet must include information such as service type identifier (e.g., location or time synchronization), data validity timestamp, and base station ID.

[0123] (2) Differential information broadcasting: This invention supports the following two broadcasting methods, which can be flexibly selected or used in combination according to business scenario requirements: A. Control Plane Broadcast Transmission: Encapsulated data packets are transmitted to the 5G core network (5GC) via the 5G network's control plane link. Core network elements (such as LMF and AMF) distribute the data packets to one or more 5G base stations within the target area via the NG interface, based on the service area configuration. Upon receiving the data, the base station incorporates it into a System Information Block (SIB) or schedules it using a dedicated Radio Network Temporary Identifier (RNTI), periodically transmitting it within its coverage area in broadcast or multicast form. All terminal devices listening to this broadcast channel can receive the data, achieving efficient one-to-many data distribution, suitable for public services.

[0124] B. User Plane Unicast Broadcast: When a terminal device requires high-precision positioning or timing services, it first establishes a unicast user plane transmission path with the data server providing PNTC services via a 5G data connection (PDU session). Based on the terminal's request or subscription, the server sends customized differential correction data packets to the specific terminal device via the NTRIP (Networked Transport of RTCM via Internet Protocol) protocol. This method provides reliable end-to-end transmission and supports bidirectional interaction (such as requesting retransmission).

[0125] (3) Terminal device data reception and processing: The terminal device receives differentially corrected data through the 5G communication module. Subsequently: A. Positioning function: The terminal positioning module (or APP) fuses the received differential positioning data with the pseudorange and carrier phase observation values ​​output by its own GNSS chip, and uses the RTK algorithm for real-time calculation to finally obtain a high-precision positioning result at the centimeter level.

[0126] B. Time synchronization function: The terminal time synchronization module applies the received differential time synchronization data to the original 1PPS (pulse per second) and ToD (time stamp) signals output by its own GNSS receiver to compensate and calibrate the local clock, thereby improving the time synchronization accuracy from tens of nanoseconds at a single point to the sub-nanosecond level.

[0127] This application can optimize the transmission efficiency of differential correction data: differential correction data is broadcast based on the control plane broadcast link, avoiding the problem of low transmission efficiency of user plane unicast differential correction data. It utilizes the inherent low latency and high reliability broadcast / multicast capabilities of 5G network to efficiently solve the "last mile" broadcasting problem of differential data and improve the real-time performance and coverage of differential correction data broadcasting.

[0128] For example, a city needs to provide communication, positioning and timing services for low-altitude economic application scenarios, which involves high-precision positioning and timing service technology for low-altitude intelligent networks, and can adopt the technical solution of this application for implementation.

[0129] For example, select existing 5G base stations in the city and modify the hardware and software of the BBU timing module of each 5G base station according to the above modification method. After the modification, each 5G base station will have high-precision differential positioning and high-precision differential timing functions. The high-precision differential positioning function provides centimeter-level positioning technology for low-altitude aircraft, and the high-precision differential timing function is used for high-precision timing and time synchronization of 5G-A sensing base stations, improving the system's sensing accuracy.

[0130] Based on the solution provided in this application, the cost of low-altitude economic positioning and timing applications can be reduced, PNTC integrated technology can be provided for low-altitude intelligent networks, and the system synergy gains of the entire service can be improved.

[0131] The foregoing primarily describes the solutions of the embodiments of this disclosure from a methodological perspective. It is understood that, in order to achieve the aforementioned functions, the positioning and timing base station includes at least one of the hardware structures and software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure.

[0132] This disclosure embodiment can divide the positioning and timing base station into functional modules according to the above method embodiment. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one functional module. The integrated module can be implemented in hardware or software. It should be noted that the module division in this disclosure embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The following description uses the example of dividing each functional module according to each function.

[0133] Figure 6 This application provides a positioning and timing device 600, which is applied in a data processing center; the device 600 includes: a receiving module 601, a calculation module 602 and a sending module 603; The receiving module 601 is used to receive at least the observation data sent by the positioning and timing base station; the solving module 602 is used to perform differential calculation based on at least the observation data to obtain differential correction data; and the sending module 603 is used to send the differential correction data to the terminal device located within the service area of ​​the positioning and timing base station.

[0134] One possible implementation is that the differential correction data includes differential positioning data and differential timing data; the calculation module 602 is specifically used to: perform differential calculation based on the observation data and the local coordinate data of the positioning and timing base station to obtain differential positioning data; and perform differential calculation based on the observation data and the local clock difference data of the positioning and timing base station to obtain differential timing data.

[0135] Another possible implementation is that the differential correction data includes: correction value, service type identifier, data validity timestamp, and base station identifier; wherein, the service type identifier is used to indicate whether the differential correction data is differential positioning data or differential timing data.

[0136] Another possible implementation is that the sending module 603 is specifically used to: encapsulate the differential correction data, satellite health status and data integrity identifier into a differential correction data message, and send the differential correction data message to the terminal device located within the service area of ​​the positioning and timing base station.

[0137] Another possible implementation involves observing data including pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

[0138] When the functions of the integrated modules described above are implemented in hardware, this disclosure provides a possible structure for the electronic device involved in the above embodiments. For example... Figure 7 As shown, the electronic device 700 includes: a processor 702 and a bus 704. Optionally, the electronic device 700 may also include a memory 701; optionally, the electronic device 700 may also include a communication interface 703.

[0139] Processor 702 may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with embodiments of this application. Processor 702 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with embodiments of this disclosure. Processor 702 may also be a combination that implements computing functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0140] The communication interface 703 is used to connect to other platforms via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0141] The memory 701 may be a read-only memory (ROM) or other type of static storage platform capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage platform capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage platform, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0142] In one possible implementation, the memory 701 can exist independently of the processor 702. The memory 701 can be connected to the processor 702 via a bus 704 and is used to store instructions or program code. When the processor 702 calls and executes the instructions or program code stored in the memory 701, it can implement the positioning and timing base station provided in this embodiment. In another possible implementation, the memory 701 can also be integrated with the processor 702.

[0143] The 704 bus can be an extended industry standard architecture (EISA) bus, etc. The 704 bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0144] In an exemplary embodiment, this application also provides a readable storage medium storing program instructions thereon; when the program instructions are executed by an electronic device, the electronic device performs the method described in the foregoing embodiments. The readable storage medium can be a non-transitory readable storage medium, such as a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage platform.

[0145] In an exemplary embodiment, this application also provides a computer program product that, when run on an electronic device, causes the electronic device to execute the aforementioned related method steps to realize the positioning and timing base station in the above embodiment.

[0146] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning and timing base station, characterized in that, The positioning and timing base station includes: a GNSS receiver chip, a crystal oscillator, a data acquisition and processing unit, and a radio frequency unit; wherein, the data acquisition and processing unit is communicatively connected to the GNSS receiver chip, the crystal oscillator, and the radio frequency unit respectively; The GNSS receiver chip is used to simultaneously receive signals from two or more frequency points; wherein, the frequency point signals originate from a satellite navigation system; The crystal oscillator is used to provide a time reference; The data acquisition and processing unit is used to receive observation data from the satellite navigation system; and to perform differential calculations based on the observation data to obtain differential correction data; wherein the differential correction data is used by the terminal device for positioning correction or timing correction. The radio frequency unit is used to send the differential correction data to terminal devices located within the service area of ​​the positioning and timing base station.

2. The base station according to claim 1, characterized in that, The differential correction data includes differential positioning data and differential timing data; The step of performing differential calculations based at least on the observed data to obtain differentially corrected data includes: Differential calculations are performed based on the observed data and local coordinate data to obtain differential positioning data; Differential calculations are performed based on the observed data and local clock difference data to obtain differential time synchronization data.

3. The base station according to claim 1 or 2, characterized in that, The differential correction data includes: Service type identifier, data validity timestamp, and base station identifier; wherein, the service type identifier is used to indicate that the differential correction data is differential positioning data or differential timing data.

4. The base station according to claim 1, characterized in that, Sending the differential correction data to a terminal device located within the service area of ​​the positioning and timing base station includes: The differential correction data, satellite health status, and data integrity identifier are encapsulated into a differential correction data message, and the differential correction data message is sent to the terminal device located within the service area of ​​the positioning and timing base station.

5. The base station according to claim 1, characterized in that, The observation data includes: Pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

6. The base station according to claim 1, characterized in that, The radio frequency unit is also used for: The observation data is sent to the data processing center at least once; wherein the data processing center is used to perform differential calculations based at least on the observation data to obtain differentially corrected data; The differential correction data is sent to terminal devices located within the service area of ​​the positioning and timing base station.

7. A positioning and timing method, characterized in that, Applied to a data processing center; the method includes: It must receive at least the observation data sent by the positioning and timing base station; Differential calculations are performed based at least on the observed data to obtain differentially corrected data; The differential correction data is sent to terminal devices located within the service area of ​​the positioning and timing base station.

8. The method according to claim 7, characterized in that, The differential correction data includes differential positioning data and differential timing data; the differential calculation based at least on the observation data to obtain the differential correction data includes: Differential positioning data is obtained by performing differential calculation based on the observation data and the local coordinate data of the positioning and timing base station; Differential timing data is obtained by performing differential calculations based on the observed data and the local clock difference data of the positioning and timing base station.

9. The method according to claim 7 or 8, characterized in that, The differential correction data includes: Service type identifier, data validity timestamp, and base station identifier; wherein, the service type identifier is used to indicate that the differential correction data is differential positioning data or differential timing data.

10. The method according to claim 7, characterized in that, Sending the differential correction data to a terminal device located within the service area of ​​the positioning and timing base station includes: The differential correction data, satellite health status, and data integrity identifier are encapsulated into a differential correction data message, and the differential correction data message is sent to the terminal device located within the service area of ​​the positioning and timing base station.

11. The method according to claim 7, characterized in that, The observation data includes: Pseudorange, carrier phase, Doppler shift, signal-to-noise ratio, and satellite ephemeris.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a non-transitory computer-readable storage medium storing computer-executable instructions that, when executed on an electronic device, cause the electronic device to perform the positioning and timing method as described in any one of claims 7 to 11.

13. A computer program product, characterized in that, The computer program product includes a computer program that, when run on an electronic device, causes the electronic device to perform the positioning and timing method as described in any one of claims 7 to 11.

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