High-precision multi-module synchronous sampling system and sampling method based on double-beidou timing

Abstract

This invention discloses a high-precision multi-module synchronous sampling system and method based on dual BeiDou time synchronization, belonging to the field of synchronous sampling technology. It includes a main control module; a dual BeiDou time synchronization module for receiving and parsing BeiDou satellite time synchronization signals to generate two independent time reference information channels; a clock calibration module for receiving and comparing the two time reference information channels in real time and generating a system reference clock signal based on the comparison results; and multiple distributed sampling modules. Each sampling module includes: a local clock unit for receiving the system reference clock signal and performing tracking calibration to generate a local synchronization time base; and a sampling control unit for controlling the execution of sampling operations at precise preset times according to sampling instructions from the main control module and the local synchronization time base. This invention solves the problems of low synchronization accuracy, poor reliability, weak resistance to single-point failures, and insufficient adaptability to complex environments existing in distributed multi-module sampling systems.

Description

Technical Field

[0001] This invention relates to the field of synchronous sampling technology, and in particular to a high-precision multi-module synchronous sampling system and sampling method based on dual BeiDou time synchronization. Background Technology

[0002] In distributed data acquisition systems, multiple independently deployed sampling modules (or data acquisition units) need to achieve strict time synchronization to ensure the temporal consistency and comparability of the acquired data, thereby providing accurate data for subsequent data fusion, status analysis, and fault diagnosis. Typical applications of such systems include wide-area measurement systems (WAMS) in smart grids, distributed fault recording, and collaborative control in the Industrial Internet of Things.

[0003] Currently, the mainstream technical solutions for achieving distributed sampling synchronization mainly include: 1. Satellite time synchronization: Systems such as the Global Positioning System (GPS) and the BeiDou Navigation Satellite System (BDS) obtain high-precision standard time (such as UTC) by receiving satellite signals. Its advantages include high time accuracy (down to nanosecond levels) and wide coverage. However, its disadvantages include susceptibility to signal obstruction (e.g., indoors, underground, densely populated urban areas), the risk of interference or deception in complex electromagnetic environments, and the failure of a single time source, which can lead to the synchronization failure of the entire system.

[0004] 2. Network Time Protocol Synchronization: Such as NTP (Network Time Protocol) and PTP (Precision Time Protocol), which transmit time information over the network. NTP is simple to implement, but its synchronization accuracy is usually at the millisecond level, which is difficult to meet high-precision requirements. Although PTP can achieve microsecond-level accuracy, it has extremely high requirements for network equipment and link symmetry, high deployment costs, and its accuracy will decrease over long distances.

[0005] 3. Hardware-triggered synchronization: Trigger pulse signals are sent via dedicated hardwired connections (such as cables or optical fibers) to force all sampling modules to operate at the same time. This method offers high synchronization accuracy, but it is limited by transmission distance and wiring complexity. In long-distance, large-scale distributed deployments, signal attenuation and latency inconsistencies become prominent, resulting in poor system scalability.

[0006] In summary, existing technologies generally suffer from a contradiction between achieving synchronization accuracy, system reliability, environmental adaptability, and deployment flexibility simultaneously. Single timing schemes present concentrated risks, while combined schemes are often structurally complex and costly. With the development and maturation of the BeiDou Navigation Satellite System, its high-precision timing capabilities provide a new foundation for solving this problem. However, how to construct a synchronization sampling system that fully utilizes BeiDou's high-precision timing advantages while overcoming its inherent defects and achieving highly reliable operation has become a pressing technical problem to be solved in this field. Summary of the Invention

[0007] To address the aforementioned issues, this invention proposes a high-precision multi-module synchronous sampling system and method based on dual BeiDou time synchronization, which solves the problems of low synchronization accuracy, poor reliability, weak resistance to single-point failures, and insufficient adaptability to complex environments in distributed multi-module sampling systems.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization, comprising: Main control module; The dual BeiDou timing module includes a first BeiDou receiving unit and a second BeiDou receiving unit, which are used to receive and parse BeiDou satellite timing signals respectively and generate two independent time reference information. The clock calibration module is connected to the dual Beidou time synchronization module and the main control module respectively. It is used to receive and compare the two time reference information in real time, and perform validity verification and redundancy processing based on the comparison results, generate the system reference clock signal and send it to the main control module. Multiple distributed sampling modules are connected to the main control module, wherein each sampling module includes: The local clock unit is used to receive the system reference clock signal, perform tracking calibration, and generate a local synchronization time base; The sampling control unit is used to control the execution of sampling operations at precise preset times based on sampling instructions from the main control module and the local synchronization time base.

[0009] As a further implementation, the clock calibration module is specifically used for: Calculate the real-time deviation between the two time reference information streams; When the real-time deviation is less than the first preset threshold, the two time reference information are fused to generate the system reference clock signal. When the real-time deviation is greater than or equal to the first preset threshold, fault diagnosis is performed on the first Beidou receiving unit and the second Beidou receiving unit. One of the time reference information that is determined to be normal is selected, or one is selected based on the signal quality, to generate the system reference clock signal and trigger an alarm.

[0010] As a further implementation method, data fusion adopts a weighted average algorithm, and the weighting coefficients are dynamically calculated based on the historical accuracy index or real-time signal quality assessment value of each time reference information.

[0011] As a further implementation, the local clock unit includes a high-stability oscillator and a phase-locked loop (PLL) circuit. The PLL circuit uses the system reference clock signal as a reference to perform closed-loop adjustment of the phase and frequency of the clock signal output by the high-stability oscillator to generate the local synchronization time base.

[0012] As a further implementation, the sampling instruction includes the absolute start sampling time and sampling period information based on the system reference clock; The sampling control unit is configured to trigger the first sampling when the absolute start sampling time arrives, based on the calibrated local synchronization time base, and to perform periodic sampling according to the sampling period.

[0013] As a further implementation, the main control module is also configured as follows: Receive timestamped sampling data returned by each sampling module; Perform consistency verification on the timestamps of sampled data from different sampling modules; If the verification finds that the synchronization error exceeds the second preset threshold, the corresponding data is marked as abnormal, and a resampling command can be sent to the corresponding sampling module.

[0014] A second aspect of the present invention provides a high-precision multi-module synchronous sampling method based on dual BeiDou time synchronization, and a high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization as described in the first aspect of the present invention, comprising the following steps: Two independent time reference information channels are obtained through the dual Beidou time synchronization module, and the two time reference information channels are compared and processed through the clock calibration module to generate the system reference clock signal. The system reference clock signal is distributed to each sampling module through the main control module and the communication module. Each sampling module calibrates its local clock unit according to the received system reference clock signal to generate a local synchronization time base that is synchronized with the system reference clock. The main control module sends sampling instructions to each sampling module, and the sampling control unit of each sampling module performs sampling operations at a consistent absolute time according to the local synchronization time base and the sampling instructions. Each sampling module sends the timestamped sampling data back to the main control module, which then performs time consistency verification on the returned data.

[0015] As a further implementation method, the comparison and processing of the two time reference information includes: If the deviation between the two time reference information is less than the preset tolerance, the two are weighted and fused to generate the system reference clock signal; If the deviation exceeds the preset tolerance, the signal quality of each channel is evaluated, the time reference information with better quality is selected to generate the system reference clock signal, and a fault alarm is triggered.

[0016] As a further implementation method, phase-locked loop technology is used to calibrate the local clock unit. By periodically adjusting the phase and frequency of the local clock, the deviation between the local synchronization time base and the system reference clock signal is maintained within the nanosecond range.

[0017] As a further implementation method, an exception handling step is also included: when the main control module finds abnormal data with excessive synchronization error in the data feedback and verification step, it marks the data and triggers a resampling process for a specific sampling module or a specific time period.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The high-precision multi-module synchronous sampling system and sampling method based on dual BeiDou time synchronization of the present invention makes full use of the nanosecond-level time synchronization capability of the BeiDou system itself, and combines local high-stability crystal oscillators and precise closed-loop calibration algorithms (such as PLL) to effectively suppress the effects of clock drift and transmission delay, so that the sampling modules distributed in various locations can achieve long-term stable microsecond-level or even nanosecond-level time synchronization, meeting the most stringent high-precision data acquisition requirements.

[0019] The high-precision multi-module synchronous sampling system and sampling method based on dual BeiDou time synchronization of this invention adopts a "dual BeiDou receiver unit redundancy backup" design, which constitutes a "double insurance" for the core time synchronization source. When the clock calibration module detects a fault or abnormal output of one of the channels, it can automatically and seamlessly switch to the other normal signal, or reduce the weight of the abnormal signal through a fusion algorithm, thereby effectively avoiding the synchronous collapse of the entire system due to single-point time synchronization failure, and greatly improving the availability and robustness of the system.

[0020] This invention relates to a high-precision multi-module synchronous sampling system and method based on dual BeiDou time synchronization. Dual-channel time synchronization provides cross-verification and optimal selection capabilities for signal quality, overcoming to some extent the vulnerability of single satellite signals in scenarios with local obstruction and interference. Simultaneously, the system distributes the clock via wired / wireless communication networks, eliminating the length limitations of hardware trigger cables and supporting flexible deployment in wide-area and heterogeneous network environments. It is suitable for various complex scenarios, from indoors to outdoors, and from local to wide-area applications.

[0021] The high-precision multi-module synchronous sampling system and sampling method based on dual BeiDou time synchronization of this invention not only achieves redundancy but also "intelligent redundancy." Through built-in real-time comparison, fault diagnosis, and signal quality assessment algorithms, the system can proactively detect time synchronization anomalies and take corresponding fusion, switching, or alarm measures, possessing intelligent diagnostic and self-recovery capabilities. Furthermore, the time consistency verification and resampling mechanism after data transmission constitute a closed-loop quality control throughout the entire process from "time synchronization" to "data acquisition," further ensuring the reliability of the final data.

[0022] This invention relates to a high-precision multi-module synchronous sampling system and method based on dual BeiDou time synchronization. The system architecture is modular, and the number of sampling modules can be flexibly increased or decreased as needed. Parameters such as sampling frequency and synchronization accuracy thresholds are configurable via software to adapt to different application requirements. All sampled data carries a unified and reliable high-precision timestamp, laying a solid foundation for subsequent advanced applications such as cross-spatial data correlation analysis, event tracing, and accurate state estimation, significantly enhancing the application value of the collected data. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0024] Figure 1 This is a structural framework diagram of the high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization of the present invention; Figure 2 This is a flowchart of the high-precision multi-module synchronous sampling method based on dual BeiDou time synchronization of the present invention. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0027] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0028] Example 1 like Figure 1 As shown, this embodiment provides a high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization, including: Main control module; The dual BeiDou timing module includes a first BeiDou receiving unit and a second BeiDou receiving unit, which are used to receive and parse BeiDou satellite timing signals respectively, and generate two independent time reference information (PPS signals). The two independent BeiDou receiving units mentioned here refer to the use of time synchronization modules from different suppliers, which can avoid decoding errors in specific situations from a single manufacturer and ensure time synchronization stability. The time synchronization antenna is led out from the time synchronization module and placed on the roof. The placement and orientation of the time synchronization antenna are independent, and it can be placed in two open areas. This independence can avoid the problem of insufficient satellite reception at a single location.

[0029] The clock calibration module is connected to the dual Beidou time synchronization module and the main control module respectively. It is used to receive and compare the two time reference information in real time, and perform validity verification and redundancy processing based on the comparison results, generate the system reference clock signal and send it to the main control module. Multiple distributed sampling modules are connected to the main control module, wherein each sampling module includes: The local clock unit is used to receive the system reference clock signal, perform tracking calibration, and generate a local synchronization time base; The sampling control unit is used to control the execution of sampling operations at precise preset times based on sampling instructions from the main control module and the local synchronization time base.

[0030] The specific solution of the present invention is as follows: System hardware structure: Dual BeiDou timing module: It adopts two high-performance BeiDou dual-mode receivers, supports BD2 / B1I, BD2 / B2I and other signal systems, with timing accuracy ≤10ns (RMS) and PPS (pulse per second) output function; Clock calibration module: Implemented using an FPGA chip, with built-in time comparison algorithm and fault diagnosis logic, it can compare the PPS signal and time information of the two Beidou receiving units in real time; Main control module: adopts an industrial-grade ARM processor with a main frequency of ≥1GHz, supports multi-threaded processing, and is responsible for the overall system scheduling; Sampling module: Configure different types of sensors (such as voltage sensors, current sensors, vibration sensors, etc.) according to the application scenario. Each module is equipped with a high-precision crystal oscillator (frequency stability ≤1ppm) as a local clock. Communication module: Supports fiber optic and Ethernet communication to ensure reliable transmission of clock signals and control commands with a transmission delay of ≤1ms.

[0031] After the dual BeiDou timing module is activated, it continuously receives satellite signals and outputs UTC time and PPS signals once per second.

[0032] The clock calibration module compares the rising edges of the two PPS signals and calculates the time deviation, specifically: Definition of time deviation between two BeiDou systems: ; The time difference between the two BeiDou receiving units at time t is... This refers to the time information at time t for the first BeiDou receiving unit. This refers to the time information at time t for the second Beidou receiving unit.

[0033] when ( When the preset threshold is set (which can be adjusted), both signals are considered valid, and weighted fusion is performed. when At that time, fault diagnosis is initiated, and the valid signal is determined by calculating the satellite signal quality assessment value: ; in: For the first Signal quality assessment value of the Beidou receiver unit; For the first The signal-to-noise ratio of the k-th satellite received by the route; Number of visible satellites; For the first Positional deviation of the satellite; This is the position deviation weighting coefficient (usually taken as 0.1); select The one with the larger value is used as a temporary reference clock.

[0034] Specifically, when the deviation is less than 50 ns, both signals are considered valid. The two time reference signals are then fused to generate a system reference clock signal. A weighted average method is used to fuse the two time reference signals. Specifically: Let the output time of the first Beidou receiving unit be... The output time of the second Beidou receiving unit is The clock calibration module performs weighted fusion of the two time information streams: ; in: As the reference clock for the merged system, , For the weighting coefficients, satisfying

[0035] Weighting coefficient calculation formula: ; in Let be the mean square error of the i-th BeiDou time synchronization signal.

[0036] When the deviation is ≥50ns, the faulty unit is identified by checking parameters such as the number of satellites tracked and the signal-to-noise ratio. The time information of the normal unit is selected as the reference, and an alarm is triggered. The main control module broadcasts the system reference clock to each sampling module every 10ms. The sampling modules calibrate their local clocks via a phase-locked loop (PLL) to keep the deviation between the local clock and the reference clock within 10ns. Specifically: Sampling module local clock With system reference clock Deviation model: ; in: This is the initial time offset; This is the clock drift rate (related to the local crystal oscillator frequency deviation). It is random noise.

[0037] Estimation using the least squares method and : ; in: The observation matrix; This is the bias observation vector.

[0038] The local clock is synchronized with the reference clock via a PLL, and the loop filter outputs control inputs. ; in: This is due to time deviation; This is the proportionality coefficient; is the integral coefficient.

[0039] Local oscillator frequency adjustment: ; in This is the nominal frequency of the local oscillator.

[0040] During system initialization, calibration is performed every 10ms for 10 seconds; during stable system operation, calibration is performed every 100ms. When |e(t)| is detected to be greater than 50ns, fast calibration is triggered (the calibration cycle is shortened to 10ms).

[0041] The sampling command adopts the format of "absolute time + relative interval", such as "2023-10-01 12:00:00.000000000, sampling interval 1ms". Based on the calibrated local synchronization time base, the first sampling is triggered when the absolute start sampling time is reached, and periodic sampling is performed according to the sampling period.

[0042] For periodic sampling, the prediction at the (k+1)th sampling time is: ; in The sampling period is This is the correction amount calculated based on historical synchronization errors.

[0043] After sampling, the data is stored in the format of "timestamp + sample value", with a timestamp accuracy of 1ns.

[0044] The main control module is also configured as follows: Receive timestamped sampling data from each sampling module, and perform consistency verification on the timestamps of sampling data from different sampling modules. The timestamp consistency verification metrics are as follows: ; Where: N is the number of sampling modules; M is the number of sampling times; σ is the maximum allowed synchronization error threshold. When C < γ (γ is the confidence threshold, which can be tuned, and is generally tuned to 0.95 in this scheme), the resampling mechanism is triggered.

[0045] Synchronous sampling error calculate: The actual time of the i-th sampling module during the k-th sampling is The theoretical sampling time is Then the synchronization error is: ; The overall synchronization accuracy of the system can be achieved by using the maximum synchronization error of all sampling modules. To obtain.

[0046] If the verification finds that the synchronization error exceeds the second preset threshold, the corresponding data is marked as abnormal, and a resampling command can be sent to the corresponding sampling module.

[0047] Through the above mathematical model and algorithm, this invention achieves optimal fusion of dual BeiDou timing information, high-precision calibration of the local clock, and time consistency guarantee of the sampling process. Theoretically, the synchronous sampling accuracy of multiple modules can be controlled within ±50ns, meeting the requirements of high-precision distributed data acquisition.

[0048] Example 2 like Figure 2 As shown, this embodiment provides a high-precision multi-module synchronous sampling method based on dual BeiDou time synchronization, and a high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization according to Embodiment 1, including the following steps: Two independent time reference information channels are obtained through the dual Beidou time synchronization module, and the two time reference information channels are compared and processed through the clock calibration module to generate the system reference clock signal. The system reference clock signal is distributed to each sampling module through the main control module and the communication module. Each sampling module calibrates its local clock unit according to the received system reference clock signal to generate a local synchronization time base that is synchronized with the system reference clock. The main control module sends sampling instructions to each sampling module, and the sampling control unit of each sampling module performs sampling operations at a consistent absolute time according to the local synchronization time base and the sampling instructions. Each sampling module sends the timestamped sampling data back to the main control module, which then performs time consistency verification on the returned data.

[0049] As a further implementation method, the comparison and processing of the two time reference information includes: If the deviation between the two time reference information is less than the preset tolerance, the two are weighted and fused to generate the system reference clock signal; If the deviation exceeds the preset tolerance, the signal quality of each channel is evaluated, the time reference information with better quality is selected to generate the system reference clock signal, and a fault alarm is triggered.

[0050] As a further implementation method, phase-locked loop technology is used to calibrate the local clock unit. By periodically adjusting the phase and frequency of the local clock, the deviation between the local synchronization time base and the system reference clock signal is maintained within the nanosecond range.

[0051] As a further implementation method, an exception handling step is also included: when the main control module finds abnormal data with excessive synchronization error in the data feedback and verification step, it marks the data and triggers a resampling process for a specific sampling module or a specific time period.

[0052] The specific implementation steps of the high-precision multi-module synchronous sampling method based on dual BeiDou time synchronization of the present invention are as follows: Step 1: System initialization, start the dual BeiDou timing module, so that the first BeiDou receiving unit and the second BeiDou receiving unit receive BeiDou satellite signals respectively; Step 2: The clock calibration module compares the time information output by the two Beidou receiving units. When the time difference between the two is less than the preset threshold, a weighted average algorithm is used to generate the system reference clock. When the difference is greater than or equal to the preset threshold, the fault diagnosis mechanism is activated, the time information of one of the normal Beidou receiving units is selected as the temporary reference clock, and an alarm signal is issued. Step 3: The main control module broadcasts the system reference clock to each sampling module through the communication module; Step 4: Each sampling module receives the system reference clock and performs clock calibration through the local clock unit to synchronize the local clock with the system reference clock; Step 5: The main control module sends sampling instructions to each sampling module according to the sampling requirements. The instructions contain information on the sampling time and sampling frequency. Step 6: The sampling control unit of each sampling module performs synchronous sampling operation at the preset sampling time according to the calibrated local clock and sampling command; Step 7: After sampling is completed, each sampling module sends the sampled data along with the timestamp information back to the main control module; Step 8: The main control module performs time consistency verification on the received sampled data. If there is data with excessive synchronization deviation, it marks it as abnormal and triggers the resampling mechanism.

[0053] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0054] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization, characterized in that, include: Main control module; The dual BeiDou timing module includes a first BeiDou receiving unit and a second BeiDou receiving unit, which are used to receive and analyze BeiDou satellite timing signals respectively and generate two independent time reference information. The clock calibration module is connected to the dual Beidou time synchronization module and the main control module respectively. It is used to receive and compare the two time reference information in real time, and perform validity verification and redundancy processing based on the comparison results, generate the system reference clock signal and send it to the main control module. Multiple distributed sampling modules are connected to the main control module, wherein each sampling module includes: The local clock unit is used to receive the system reference clock signal, perform tracking calibration, and generate a local synchronization time base; The sampling control unit is used to control the execution of sampling operations at precise preset times based on sampling instructions from the main control module and the local synchronization time base.

2. The high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization as described in claim 1, characterized in that, The clock calibration module is specifically used for: Calculate the real-time deviation between the two time reference information streams; When the real-time deviation is less than the first preset threshold, the two time reference information are fused to generate the system reference clock signal. When the real-time deviation is greater than or equal to the first preset threshold, fault diagnosis is performed on the first Beidou receiving unit and the second Beidou receiving unit. One of the time reference information that is determined to be normal is selected or one is selected based on the signal quality to generate the system reference clock signal and trigger an alarm.

3. The high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization as described in claim 2, characterized in that, The data fusion uses a weighted average algorithm, and the weighting coefficients are dynamically calculated based on the historical accuracy index or real-time signal quality assessment value of each time reference information.

4. The high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization as described in claim 1, characterized in that, The local clock unit includes a high-stability oscillator and a phase-locked loop circuit. The phase-locked loop circuit uses the system reference clock signal as a reference to perform closed-loop adjustment of the phase and frequency of the clock signal output by the high-stability oscillator to generate the local synchronization time base.

5. The high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization as described in claim 1, characterized in that, The sampling command includes the absolute start sampling time and sampling period information based on the system reference clock; The sampling control unit is configured to trigger the first sampling when the absolute start sampling time arrives, based on the calibrated local synchronization time base, and to perform periodic sampling according to the sampling period.

6. The high-precision multi-module synchronous sampling system based on dual BeiDou time synchronization as described in claim 1, characterized in that, The main control module is also configured to: Receive timestamped sampling data returned by each sampling module; Perform consistency verification on the timestamps of sampled data from different sampling modules; If the verification finds that the synchronization error exceeds the second preset threshold, the corresponding data is marked as abnormal, and a resampling command can be sent to the corresponding sampling module.

7. A high-precision multi-module synchronous sampling method based on dual BeiDou time synchronization, characterized in that, Based on the high-precision multi-module synchronous sampling system with dual BeiDou time synchronization as described in any one of claims 1-7, the system includes the following steps: Two independent time reference information channels are obtained through the dual Beidou time synchronization module, and the two time reference information channels are compared and processed through the clock calibration module to generate the system reference clock signal. The system reference clock signal is distributed to each sampling module through the main control module and the communication module. Each sampling module calibrates its local clock unit according to the received system reference clock signal to generate a local synchronization time base that is synchronized with the system reference clock. The main control module sends sampling instructions to each sampling module, and the sampling control unit of each sampling module performs sampling operations at a consistent absolute time according to the local synchronization time base and the sampling instructions. Each sampling module sends the timestamped sampling data back to the main control module, which then performs time consistency verification on the returned data.

8. The high-precision multi-module synchronous sampling method based on dual BeiDou time synchronization as described in claim 7, characterized in that, The comparison and processing of the two time reference information includes: If the deviation between the two time reference information is less than the preset tolerance, the two are weighted and fused to generate the system reference clock signal; If the deviation exceeds the preset tolerance, the signal quality of each channel is evaluated, the time reference information with better quality is selected to generate the system reference clock signal, and a fault alarm is triggered.

9. The high-precision multi-module synchronous sampling method based on dual BeiDou time synchronization as described in claim 7, characterized in that, Phase-locked loop (PLL) technology is used to calibrate the local clock unit. By periodically adjusting the phase and frequency of the local clock, the deviation between the local synchronization time base and the system reference clock signal is maintained within the nanosecond range.

10. The high-precision multi-module synchronous sampling method based on dual BeiDou time synchronization as described in claim 7, characterized in that, It also includes anomaly handling steps: when the main control module finds abnormal data with excessive synchronization error in the data feedback and verification steps, it marks the data and triggers a resampling process for a specific sampling module or a specific time period.

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