Satellite communication-based clock compensation method, device, equipment, medium and program product

Abstract

This application provides a clock compensation method, apparatus, device, medium, and program product based on satellite communication, relating to the field of communication technology, and improving the accuracy of time synchronization. The specific technical solution is as follows: Acquire real-time spatiotemporal status information of the terminal and receive ephemeris data transmitted by the satellite through the lower planetary-to-ground link; generate global scene information based on the spatiotemporal status information; load a target prediction model matching the geographical environment based on the global scene information, and process the measurement data collected at historical moments through the target prediction model to predict the link status prediction information of the lower planetary-to-ground link at the next moment; calculate the physical path length difference between the upper and lower planetary-to-ground links based on the ephemeris data and the link status prediction information, and convert the physical path length difference into a time compensation value recognizable by the protocol layer; perform time compensation at the physical layer based on the time compensation value. This application is applicable to wide-area industrial unmanned scenarios integrating air, space, and sea.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a clock compensation method, apparatus, device, medium, and program product based on satellite communication. Background Technology

[0002] As the Industrial Internet develops towards an "integrated air-space-ground" architecture, unmanned industrial systems (such as unmanned mining truck convoys in open-pit mines, unmanned buoy clusters and underwater robot clusters in ocean operations) urgently require wide-area deterministic communication technologies. However, compared to traditional wired terrestrial networks or fixed wireless access networks, unmanned industrial systems face severe "dual high-dynamic" challenges in an "integrated air-space-ground" environment. Specifically: 1) High dynamic characteristics in the space segment, such as low-orbit satellites operating at high speeds of approximately 7.6 km / s, causing severe Doppler shift effects and significant time-varying transmission delays in the space-to-ground communication link, seriously affecting the accuracy of signal demodulation and the stability of timing synchronization; 2) High dynamic characteristics of the ground segment environment, such as unmanned terminals (e.g., mining trucks, buoys, drones, etc.) often being deployed in complex environments with strong obstructions or high undulations, causing frequent non-line-of-sight (NLOS) propagation in the Starlink communication link, resulting in deep signal fading and periodic link jitter.

[0003] To address the aforementioned issues, time synchronization of all nodes in an unmanned industrial system is necessary. Conventional time synchronization mechanisms typically employ a "measurement-feedback" reactive control mode. In this mode, the system passively adjusts control parameters or switches clock sources only after detecting a deterioration in the satellite-to-ground link quality or message loss. However, in highly dynamic space-air-ground scenarios, satellite-to-ground link interruptions (such as satellite overhead termination or terrain obstruction) often occur suddenly and frequently. This leads to excessive time jumps during satellite-to-ground link switching or interruptions, compromising the continuity and security of unmanned industrial tasks during communication gaps. In other words, existing time synchronization schemes have low time synchronization accuracy. Summary of the Invention

[0004] This application provides a clock compensation method, apparatus, device, medium, and program product based on satellite communication, which improves the accuracy of time synchronization.

[0005] In a first aspect, embodiments of this application provide a clock compensation method based on satellite communication. The method includes: acquiring real-time spatiotemporal state information of a terminal and receiving ephemeris data transmitted by a satellite via a lower planetary-to-ground link; the spatiotemporal state information includes the terminal's motion state information and satellite navigation and positioning data; generating global scene information based on the aforementioned spatiotemporal state information; the global scene information indicating the current geographical environment of the terminal; loading a target prediction model matching the aforementioned geographical environment based on the global scene information, and processing measurement data collected at historical moments using the target prediction model to predict the link state prediction information of the lower planetary-to-ground link at the next moment; calculating the physical path length difference between the upper and lower planetary-to-ground links based on the aforementioned ephemeris data and the aforementioned link state prediction information, and converting the physical path length difference into a time compensation value recognizable by the protocol layer; and performing time compensation at the physical layer based on the time compensation value.

[0006] The technical solution provided in this application offers at least the following advantages: After acquiring the real-time spatiotemporal state information of the terminal, global scene information indicating the current geographical environment of the terminal can be generated based on this information. Then, based on this global scene information, a target prediction model matching the geographical environment is loaded. This target prediction model processes historically collected measurement data to predict the link state prediction information of the next planetary-to-ground link. Next, the ephemeris data transmitted by the satellite via the lower planetary-to-ground link and the predicted link state information are fused to calculate the physical path length difference between the upper and lower planetary-to-ground links. Finally, this physical path length difference is converted into a time compensation value recognizable by the protocol layer for time compensation at the physical layer. Thus, by utilizing the geographical environment of the terminal to load the corresponding prediction model to predict changes in physical layer latency, feedforward compensation of the local clock at the physical layer can be performed based on the predicted latency changes, improving the accuracy of time synchronization and achieving high-precision time synchronization across all weather and terrain conditions.

[0007] One possible implementation is that the global scene information includes a geographic environment flag, which indicates the geographic environment in which the terminal is currently located; the loading of a target prediction model matching the geographic environment based on the global scene information includes: determining a target prediction model matching the geographic environment indicated by the geographic environment flag based on the mapping relationship between the prediction model and the geographic environment; the geographic environment includes a terrestrial environment or a marine environment; and loading the target prediction model.

[0008] Another possible implementation is that, if the geographical environment indicated by the above-mentioned geographical environmental marker is the above-mentioned terrestrial environment, then the above-mentioned target prediction model is a ray tracing model based on the digital elevation model (DEM); or, if the geographical environment indicated by the above-mentioned geographical environmental marker is the above-mentioned marine environment, then the above-mentioned target prediction model is a wave reconstruction model based on Kalman filtering.

[0009] Another possible implementation involves calculating the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link based on the ephemeris data and the link status prediction information, including: determining the velocity value of the satellite based on the ephemeris data; determining the velocity value of the terminal based on the motion status information of the terminal and the link status prediction information; calculating the satellite-to-ground relative radial velocity value based on the satellite velocity data and the terminal velocity data; and calculating the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link based on the satellite-to-ground relative radial velocity value and the link status prediction information.

[0010] Another possible implementation involves performing time compensation at the physical layer based on the aforementioned time compensation value, including: when the physical layer receives a PTP message, parsing the frame header of the PTP message and extracting the original time correction value carried in the correction field of the frame header; and updating the correction field in the PTP message based on the aforementioned time compensation value and the aforementioned original time correction value.

[0011] Another possible implementation is that, after generating global scene information based on the aforementioned spatiotemporal state information, the method further includes: if the global scene information indicates that the current geographical environment of the terminal is the aforementioned land environment, and if the signal obstruction probability contained in the aforementioned link state prediction information is greater than or equal to a first threshold, then based on the frequency inertia of the local clock at the previous moment, the time output of the local clock is maintained; or, if the global scene information indicates that the current geographical environment of the terminal is the aforementioned ocean environment, based on the aforementioned link state prediction information, the wave frequency is predicted, and then the local clock is filtered based on a notch filter with a center frequency of the aforementioned wave frequency.

[0012] Secondly, embodiments of this application provide a clock compensation device based on satellite communication, comprising: an acquisition module, a receiving module, a generation module, a processing module, and a compensation module. The aforementioned acquisition module is used to acquire real-time spatiotemporal status information of the terminal; the aforementioned receiving module is used to receive ephemeris data transmitted by the satellite through the lower planetary-to-ground link; the aforementioned spatiotemporal status information includes the terminal's motion status information and satellite navigation and positioning data; the aforementioned generation module is used to generate global scene information based on the aforementioned spatiotemporal status information acquired by the aforementioned acquisition module; the aforementioned global scene information indicates the geographical environment in which the aforementioned terminal is currently located; the aforementioned processing module is used to load a target prediction model matching the aforementioned geographical environment based on the aforementioned global scene information generated by the aforementioned generation module, and to process the measurement data collected at the aforementioned historical time through the aforementioned prediction model to predict the link status prediction information of the aforementioned lower planetary-to-ground link at the next time; the aforementioned processing module is also used to calculate the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link based on the aforementioned ephemeris data and the aforementioned link status prediction information received by the aforementioned receiving module, and to convert the aforementioned physical path length difference into a time compensation value recognizable by the protocol layer; the aforementioned compensation module is used to perform time compensation at the physical layer based on the aforementioned time compensation value obtained by the aforementioned processing module.

[0013] One possible implementation is that the above processing module is specifically used to: determine a target prediction model that matches the geographic environment indicated by the above geographic environment markers based on the mapping relationship between the prediction model and the geographic environment; the above geographic environment includes a terrestrial environment or a marine environment; and load the above target prediction model.

[0014] Another possible implementation is that if the geographical environment indicated by the above-mentioned geographical environmental marker is the above-mentioned terrestrial environment, then the above-mentioned target prediction model is a ray tracing model based on the digital elevation model (DEM); or, if the geographical environment indicated by the above-mentioned geographical environmental marker is the above-mentioned marine environment, then the above-mentioned target prediction model is a wave reconstruction model based on Kalman filtering.

[0015] Another possible implementation is that the above processing module is specifically used to: determine the velocity value of the satellite based on the above ephemeris data; determine the velocity value of the terminal based on the motion state information of the terminal and the link state prediction information; calculate the satellite-to-ground relative radial velocity value based on the satellite velocity data and the terminal velocity data; and calculate the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link based on the satellite-to-ground relative radial velocity value and the link state prediction information.

[0016] Another possible implementation is that the aforementioned compensation module is specifically used to: when the physical layer receives a PTP message, parse the frame header of the PTP message and extract the original time correction value carried in the correction field of the frame header; and update the correction field in the PTP message based on the aforementioned time compensation value and the aforementioned original time correction value.

[0017] In another possible implementation, the processing module is further configured to: when the global scene information indicates that the current geographical environment of the terminal is the land environment, if the signal obstruction probability contained in the link state prediction information is greater than or equal to a first threshold, then maintain the time output of the local clock based on the frequency inertia of the local clock at the previous moment; or, when the global scene information indicates that the current geographical environment of the terminal is the ocean environment, predict the wave frequency based on the link state prediction information, and then filter the local clock based on a notch filter with the center frequency of the wave frequency.

[0018] Thirdly, this application provides an electronic device comprising: a processor and a memory; the memory stores a program or instructions executable on the processor, wherein the program or instructions, when executed by the processor, implement the method of the first aspect described above.

[0019] Fourthly, this application provides a readable storage medium on which a program or instructions are stored, which, when executed by a computer, implement the method of the first aspect described above.

[0020] Fifthly, this application provides a computer program product stored in a storage medium, which, when executed by a computer, implements the method described in the first aspect.

[0021] In a sixth aspect, embodiments of this application provide a chip including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method described in the first aspect.

[0022] The beneficial effects of the second to sixth aspects mentioned above are described in the corresponding description of the first aspect and will not be repeated here. Attached Figure Description

[0023] Figure 1 A schematic diagram of the network architecture for an application of a clock compensation method based on satellite communication provided in this application embodiment;

[0024] Figure 2 A flowchart illustrating a clock compensation method based on satellite communication provided in an embodiment of this application;

[0025] Figure 3A flowchart illustrating another clock compensation method based on satellite communication provided in this application embodiment;

[0026] Figure 4 A flowchart illustrating yet another clock compensation method based on satellite communication provided in this application embodiment;

[0027] Figure 5 A flowchart illustrating yet another clock compensation method based on satellite communication provided in this application embodiment;

[0028] Figure 6 A flowchart illustrating yet another clock compensation method based on satellite communication provided in this application embodiment;

[0029] Figure 7 A flowchart illustrating the implementation process of a clock compensation method based on satellite communication provided in this application embodiment;

[0030] Figure 8 A system scenario architecture diagram of a clock compensation method based on satellite communication provided for embodiments of this application;

[0031] Figure 9 A schematic diagram of a clock compensation device based on satellite communication provided in an embodiment of this application;

[0032] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0034] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0035] The terms "at least one," "at least one of," etc., used in the specification and claims of this application refer to any one, any two, or a combination of two or more of the included items. For example, at least one of a, b, and c can mean: "a," "b," "c," "a and b," "a and c," "b and c," and "a, b, and c," where a, b, and c can be single or multiple. Similarly, "at least two" refers to two or more items, and its meaning is similar to that of "at least one."

[0036] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0037] As the Industrial Internet evolves towards an integrated "space-air-ground" architecture, unmanned industrial systems (such as unmanned mining truck convoys in open-pit mines and unmanned buoys and underwater robots in ocean operations) have created an urgent need for wide-area deterministic communication. The integration of 5G-NTN (Non-Terrestrial Networks) and Time-Sensitive Networking (TSN) has become a key architecture for achieving global coverage and microsecond-level synchronization. However, unlike traditional wired or fixed wireless access on the ground, unmanned industrial scenarios face a dual high-dynamic challenge. In the space segment, low-Earth orbit (LEO) satellites move at high speeds of approximately 7.6 km / s, generating severe Doppler shift and time-varying transmission delays. On the ground segment, unmanned equipment operating in complex terrain (land obstruction) or sea conditions (ocean undulations) results in frequent non-line-of-sight (NLOS) fading and periodic jitter in the communication link. Currently, the mainstream solutions for achieving satellite-to-ground time synchronization include relying on two-way message exchange (Sync / Follow_Up, Pdelay_Req / Resp) to measure transmission delay and the terminal directly resolving the Global Positioning System (GPS) / BeiDou signals for time synchronization.

[0038] However, existing technologies suffer from several drawbacks, including the inability to eliminate asymmetric errors: In LEO satellite scenarios, the satellite may have shifted tens of kilometers between the transmission time t1 and the reception time t4 of a Precision Time Protocol (PTP) message. Traditional PTP protocols cannot detect such instantaneous changes in physical topology, resulting in a significant deviation (microsecond-level error) between the calculated average path delay and the actual value. Environmental adaptability is also poor: In land-based mines, GNSS signals are often blocked by deep pits or mountains, causing time synchronization interruptions. Furthermore, PTP servo algorithms cannot distinguish between "signal jitter" and "real obstruction," easily leading to clock overshoot upon obstruction recovery. In marine environments, the periodic undulations of ocean waves introduce low-frequency jitter that is difficult to filter out. Traditional Proportional-Integral-Derivative (PID) algorithms, with their fixed parameters, cannot track dynamic wave characteristics. Finally, existing technologies lack predictive mechanisms: they all operate on a "measurement-feedback" lag model, unable to proactively enter a time-keeping state before link interruption or degradation occurs.

[0039] The purpose of this application is to address the high dynamic time-varying nature and environmental interference issues of 5G-NTN links in heterogeneous industrial scenarios. By introducing a "multimodal environmental fingerprinting" and "link state prediction" mechanism, it distinguishes between land and ocean scenarios, uses prior knowledge (maps or wave spectra) to predict physical layer latency changes, and performs feedforward compensation at the Media Access Control Layer (MAC) to achieve high-precision deterministic synchronization in all weather and all terrain conditions.

[0040] The embodiments of this application provide a clock compensation method, device, equipment, medium, and program product based on satellite communication, which can be applied to wide-area industrial unmanned scenarios integrating air, land, sea, and air. It aims to solve the problem of microsecond-level time synchronization and deterministic communication in highly dynamic, strongly obstructed, and long-distance environments, and ensure the collaborative operation, precise control, and reliable data transmission of unmanned equipment clusters in any region of the world.

[0041] In one possible scenario, such as Scenario 1:

[0042] Scenario 1: Collaborative operation of unmanned mining truck platoons in open-pit mines

[0043] In large mining areas such as open-pit coal mines and metal mines, hundreds of unmanned mining trucks and loading equipment are typically deployed to achieve 24-hour uninterrupted transportation. However, due to the complex terrain and severe obstruction from deep pits and mountains in mining areas, traditional GNSS systems are prone to lock-on failures, and multi-workshop collaboration requires extremely high millisecond-level command synchronization. The solution provided in this application can ensure that unmanned mining trucks can perform obstacle avoidance coordination and real-time execution of scheduling commands in severe weather conditions such as sandstorms and blizzards, while reducing the risk of personnel exposure to high-risk environments to zero.

[0044] In another possible scenario, such as scenario 2:

[0045] Scenario 2: Operation and maintenance of unmanned buoys and underwater robot swarms in the open ocean

[0046] In unmanned operation and maintenance scenarios of offshore wind farms or oil and gas extraction platforms in deep sea areas, unmanned buoys and underwater robots are typically used to perform tasks such as submarine cable inspection, wind turbine foundation testing, and underwater wellhead maintenance. The fluctuations in sea waves cause periodic jitter in communication links, and the lack of ground base station coverage in the open ocean renders traditional time synchronization solutions ineffective. The solution provided in this application can ensure high-definition video transmission and remote control of unmanned equipment in the deep sea.

[0047] To address the aforementioned technical problems, this application provides a clock compensation method, apparatus, device, medium, and program product based on satellite communication. After acquiring the real-time spatiotemporal state information of the terminal, global scene information indicating the current geographical environment of the terminal can be generated based on this spatiotemporal state information. Then, based on this global scene information, a target prediction model matching the geographical environment is loaded. The target prediction model processes measurement data collected at historical moments to predict the link state prediction information of the next planetary-to-ground link. Next, the ephemeris data transmitted by the satellite through the lower planetary-to-ground link and the above link state prediction information are fused to calculate the physical path length difference between the upper and lower planetary-to-ground links. Finally, the physical path length difference is converted into a time compensation value recognizable by the protocol layer for time compensation at the physical layer. Thus, by utilizing the geographical environment of the terminal to load the corresponding prediction model to predict changes in physical layer latency, feedforward compensation of the local clock at the physical layer can be performed based on the predicted latency changes, improving the accuracy of time synchronization and achieving high-precision time synchronization in all weather and terrain conditions.

[0048] The following description, in conjunction with the accompanying drawings, details the clock compensation method, apparatus, device, medium, and program products based on satellite communication provided in the embodiments of this application.

[0049] Figure 1 This illustration shows a network architecture for an application of a clock compensation method based on satellite communication, as provided in an embodiment of this application. Figure 1 As shown, the network architecture includes a satellite communication-based clock compensation device 101 and a terminal device 102. The satellite communication-based clock compensation device 101 and the terminal device 102 are interconnected.

[0050] In some embodiments, the satellite communication-based clock compensation device 101 may be a server, a computer, or a processor or processing unit within a server or computer. The server may be a single server or a server cluster comprising multiple servers. It should be noted that this application embodiment does not limit the specific device form of the satellite communication-based clock compensation device 101. Figure 1 The example shown is a clock compensation device 101 based on satellite communication, which is a single server.

[0051] In some embodiments, the terminal device may be a mobile phone, tablet computer, laptop computer, handheld computer, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, personal computer (PC), ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc., and the embodiments of this application do not specifically limit it. Figure 1 The example shown is a mobile phone, with terminal device 102 as an example.

[0052] In some embodiments, the satellite communication-based clock compensation device 101 obtains the real-time spatiotemporal status information of the terminal device 102 from the terminal device 102, and receives ephemeris data transmitted by the satellite through the lower planetary-to-ground link; the spatiotemporal status information includes the terminal's motion status information and satellite navigation and positioning data; based on the spatiotemporal status information, global scene information is generated; the global scene information is used to indicate the current geographical environment of the terminal device 102; based on the global scene information, a target prediction model matching the geographical environment is loaded, and the target prediction model is used to process the measurement data collected at historical moments to predict the link status prediction information of the lower planetary-to-ground link at the next moment; based on the ephemeris data and the link status prediction information, the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link is calculated, and the physical path length difference is converted into a time compensation value recognizable by the protocol layer; time compensation is performed at the physical layer based on the time compensation value.

[0053] It should be noted that the network architecture described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided in the embodiments of this application. As network architectures evolve, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0054] See Figure 2 This is a flowchart illustrating a clock compensation method based on satellite communication provided in an embodiment of this application. Figure 2 As shown, the clock compensation method based on satellite communication provided in this application embodiment can be implemented by the above-mentioned clock compensation device based on satellite communication, specifically including the following steps 201 to 205.

[0055] Step 201: The clock compensation device based on satellite communication acquires the real-time spatiotemporal status information of the terminal and receives ephemeris data sent by the satellite through the lower planetary-to-ground link.

[0056] In this embodiment of the application, the aforementioned spatiotemporal state information includes the motion state information of the aforementioned terminal and satellite navigation and positioning data.

[0057] In this embodiment of the application, the motion state information of the terminal includes, but is not limited to: the terminal's position information, the terminal's speed information, the terminal's acceleration information, the terminal's attitude information, and the terminal's motion state information.

[0058] In one example, the acceleration information of the terminal may include triaxial acceleration collected by an inertial measurement unit (IMU).

[0059] In one example, the attitude information of the terminal mentioned above includes, but is not limited to, pitch angle, roll angle, and yaw angle.

[0060] In one example, the motion state information of the aforementioned terminal includes, but is not limited to: stationary, walking, driving, and flying.

[0061] In this embodiment of the application, the aforementioned satellite navigation and positioning data includes, but is not limited to: positioning result data, satellite observation data, and satellite navigation assistance data.

[0062] In one example, the positioning result data includes, but is not limited to: position coordinates, speed, heading, positioning time, and positioning accuracy information.

[0063] In one example, the aforementioned satellite observation data includes, but is not limited to: pseudorange observations, carrier phase observations, Doppler observations, signal-to-noise ratio, and satellite identification information.

[0064] In one example, the aforementioned satellite navigation aid data includes, but is not limited to: ephemeris data, almanac data, ionospheric correction parameters, tropospheric correction parameters, and clock offset information.

[0065] In this embodiment, the ephemeris data includes, but is not limited to: satellite orbital parameters, satellite clock bias parameters and clock drift parameters, satellite attitude information or health status indicators, and ionospheric and tropospheric correction parameters. The satellite orbital parameters are used to characterize the satellite's space orbit.

[0066] Step 202: The satellite communication-based clock compensation device generates global scene information based on the above spatiotemporal state information.

[0067] In this embodiment of the application, the aforementioned global scene information is used to indicate the current geographical environment of the terminal.

[0068] In this embodiment of the application, the geographical environment in which the terminal is currently located includes a terrestrial environment or a marine environment.

[0069] In this embodiment, the aforementioned global scene information includes a geographic environment flag. This geographic environment flag is used to indicate the current geographic environment of the terminal.

[0070] Step 203: The satellite communication-based clock compensation device loads a target prediction model that matches the geographical environment based on the global scene information mentioned above, and processes the measurement data collected at the historical time through the target prediction model to predict the link status information of the next planet-to-ground link at the next time.

[0071] In this embodiment of the application, the target prediction model described above is used to predict the link status of the next planetary-to-ground link.

[0072] In the embodiments of this application, the target prediction model includes a ray tracing model based on a Digital Elevation Model (DEM) or a wave reconstruction model based on Kalman filtering.

[0073] In this embodiment of the application, when the geographic environment indicated by the aforementioned geographic environmental marker is the aforementioned terrestrial environment, the aforementioned target prediction model is a ray tracing model based on DEM. Alternatively, when the geographic environment indicated by the aforementioned geographic environmental marker is the aforementioned marine environment, the aforementioned target prediction model is a wave reconstruction model based on Kalman filtering.

[0074] In this application embodiment, the measurement data collected at the aforementioned historical moments includes, but is not limited to, the terminal's motion state information, satellite navigation and positioning data, and ephemeris data. For example, for industrial unmanned systems, the measurement data collected at the aforementioned historical moments is measured in real time by a 5G-NTN terminal baseband chip and peripheral sensor group mounted on industrial unmanned equipment (e.g., mining trucks or buoys).

[0075] It is understandable that the measurement data collected at the aforementioned historical moments can also be referred to as lagging measurement data. In other words, the measurement data collected at the aforementioned historical moments represents the physical state of the "current or past". Typically, when the PTP message is actually in flight, the satellite and terminal are no longer at the positions measured earlier. Because there is a time difference between data sampling and message transmission, this application uses the aforementioned lagging measurement data to input into a dynamic prediction model to extrapolate to future moments.

[0076] In this embodiment of the application, the link state prediction information of the next planetary-to-ground link at the next moment is used to characterize the link state of the next planetary-to-ground link at the next moment.

[0077] For example, in the Land Mode (LAND), the above link state prediction information is used to characterize whether the signal transmitted by the planetary-to-ground link will be blocked by obstacles at the next moment.

[0078] For example, in the ocean mode (SEA), the above link state prediction information is used to characterize how many meters the buoy will be raised or lowered by the waves at the next moment.

[0079] In some embodiments, combined with Figure 2 ,like Figure 3 As shown, step 203 above can be implemented through steps 203a to 203b.

[0080] Step 203a: The satellite communication-based clock compensation device determines the target prediction model that matches the geographical environment indicated by the aforementioned geographical environment marker based on the mapping relationship between the prediction model and the geographical environment; the aforementioned geographical environment includes a terrestrial environment or a marine environment.

[0081] Step 203b: Load the target prediction model using the satellite communication-based clock compensation device.

[0082] In this way, corresponding prediction models can be loaded for different geographical environments, thereby accurately predicting the future state of the planet-to-ground link by combining the geographical environment of the terminal.

[0083] Step 204: The satellite communication-based clock compensation device calculates the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link based on the above ephemeris data and the above link status prediction information, and converts the above physical path length difference into a time compensation value that can be recognized by the protocol layer.

[0084] In this embodiment of the application, the clock compensation device based on satellite communication can convert the above-mentioned physical path length difference into a time compensation value that can be recognized by the protocol layer based on the following formula 1: Formula 1 is as follows:

[0085] T comp = δ path / c (Formula 1)

[0086] Among them, T comp This is the time compensation value. Let c be the difference in physical path length between the upper planetary-to-ground link and the lower planetary-to-ground link, and let c be the speed of light.

[0087] It should be noted that in the engineering implementation of Formula 1 above, since time is not a floating-point number in the code, but an integer data in nanoseconds (ns) and its fractional nanoseconds, a further "quantization conversion" is required.

[0088] In some embodiments, combined with Figure 2 ,like Figure 4 As shown, step 204 above can be implemented through steps 204a to 204d.

[0089] Step 204a: The satellite communication-based clock compensation device determines the velocity value of the satellite based on the above ephemeris data.

[0090] Step 204b: The satellite communication-based clock compensation device determines the speed value of the terminal based on the motion state information of the terminal and the link state prediction information.

[0091] Step 204c: The satellite communication-based clock compensation device calculates the relative radial velocity value between the satellite and the ground based on the speed data of the satellite and the speed data of the terminal.

[0092] Step 204d: The satellite communication-based clock compensation device calculates the difference in physical path length between the upper planetary-to-ground link and the lower planetary-to-ground link based on the aforementioned relative radial velocity value between the satellite and the ground and the aforementioned link status prediction information.

[0093] In this embodiment of the application, the above-mentioned clock compensation device based on satellite communication can calculate the difference in physical path length between the upper planetary ground link and the lower planetary ground link based on the following formula 2.

[0094]

[0095] in, This represents the difference in physical path length between the upper planetary-to-ground link and the lower planetary-to-ground link. The above-mentioned relative radial velocity values ​​between the satellite and the ground; when the geographical environment of the terminal is a marine environment, Δh wave The buoy will be raised or lowered by a vertical displacement Δh(t) by the waves at the next moment, as indicated by the aforementioned link state prediction information; or, if the terminal is located in a terrestrial environment, Δh... wave This item is 0.

[0096] In one example, the difference in physical path length between the aforementioned uplink and downlink can be the PTP protocol uplink (Req) length. Resp) and downlink (Sync) The difference in physical path length between FollowUp and the target path.

[0097] It should be noted that although industrial TSN networks are required to use IEEE 802.1AS (i.e., gPTP protocol), which is a specific subset of the IEEE 1588 PTP protocol, the compensation scheme provided in this application can be applied broadly to any "two-way time transfer (TWTT)" protocol, such as the traditional NTP (Network Time Protocol). In other words, as long as the underlying logic of the protocol is "question and answer" (the terminal sends a request, the base station responds, and records four timestamps), it is applicable. If this is the case, then the physical phenomenon that "the upward distance is not equal to the downward distance" caused by the relatively high speed of the two ends objectively exists.

[0098] It should be noted that although this embodiment uses the IEEE 802.1AS / PTP protocol as an example, the physical path difference based on the relative radial velocity integral is used in this step. The calculation model is also applicable to all time synchronization protocols that rely on bidirectional message exchange for distance measurement, such as NTP (Network Time Protocol), and has cross-protocol universality.

[0099] Step 205: The satellite communication-based clock compensation device performs time compensation at the physical layer based on the above time compensation value.

[0100] In this embodiment of the application, the above-mentioned clock compensation device based on satellite communication can update the original time correction value carried in the correction field of the message directly based on the above-mentioned time compensation value when the message is received at the physical layer, according to the following formula 3.

[0101] (Formula 3)

[0102] In this embodiment of the application, the clock compensation device based on satellite communication can update the original time correction value carried in the correction field of the message directly based on the time compensation value when the physical layer receives the message, so as to achieve time compensation.

[0103] In this embodiment of the application, the aforementioned correction field can be the correctionField field in the message.

[0104] In this embodiment, the correctionField is a core field in the general message header, used to carry time correction information.

[0105] In this embodiment, the primary function of the correctionField is to compensate for various delays during the time synchronization process, ensuring high-precision synchronization. Specifically, it includes:

[0106] 1) Dwell time: The time it takes for a message to be processed inside a device such as a transparent clock (TC).

[0107] 2) Link delay: The delay in the propagation of a message on a network link.

[0108] 3) Asymmetric compensation: used to compensate for inconsistencies in uplink and downlink delays.

[0109] In one example, the aforementioned `correctionField` is located in the header of a PTP message. Specifically, a PTP message typically consists of a header, a body / payload, and an optional suffix. Generally, the `correctionField` occupies 8 bytes. When a PTP message passes through a switch that supports the PTP protocol, the switch measures the message's dwell time within it and adds this time value to the `correctionField`. Thus, when a device performs time calculations from its clock, it reads and uses this accumulated correction value, thereby eliminating delays introduced by intermediate devices and achieving more accurate synchronization.

[0110] In some embodiments, combined with Figure 2 ,like Figure 5 As shown, step 205 above can be implemented through steps 205a to 205b.

[0111] Step 205a: When the satellite communication-based clock compensation device receives a PTP message at the physical layer, it parses the frame header of the PTP message and extracts the original time correction value carried in the correction field of the frame header.

[0112] Step 205b: The satellite communication-based clock compensation device updates the correction field in the PTP message based on the time compensation value and the original time correction value.

[0113] In this embodiment of the application, the standard PTP protocol uses a fixed formula when calculating the time difference (offset) between the terminal and the base station: (Formula 4). Therefore, this application calculates the difference in physical path length between the upper planetary ground link and the lower planetary ground link, converts this difference in physical path length into a time compensation value that can be recognized by the protocol layer, and then inserts this time compensation value into the correctionField. In this way, when the upper-layer TSN software applies this standard formula, those errors are canceled out, thereby achieving clock compensation. This process is usually called transparent compensation.

[0114] In one example, the time compensation process described above will be illustrated below with a specific example. Specifically, the time compensation process may include the following steps:

[0115] a) When the physical layer (PHY) of the 5G-NTN baseband receives an Ethernet data frame, it identifies the Ethernet type field as 0x88F7 (representing a PTP packet).

[0116] b) The hardware logic will directly parse the PTP header and find the 64-bit correctionField starting from the 8th byte.

[0117] c) Extract the original value and add it to the previously calculated T. comp .

[0118] d) After modification, the hardware must recalculate the FCS (Ethernet Check Sequence CRC) of this data packet; otherwise, the packet will be discarded as an error packet when sent to the upper layer.

[0119] It should be noted that the aforementioned in-situ modification of the correctionField is performed in real time by the PHY layer hardware logic (such as FPGA or base MAC chip); after the physical layer recognizes the PTP feature frame header, it extracts the 64-bit data of the original correctionField and converts the floating-point compensation value T... comp After quantization and conversion to the fractional nanoseconds format specified by the standard protocol, the data is accumulated. After modification, the physical layer hardware synchronously recalculates and writes the FCS (Frame Check Sequence) of the Ethernet frame to ensure that the tampered message can be legally received by the upper-layer TSN protocol stack.

[0120] In this way, the calculated difference in physical path length is converted into a positive time value that can be recognized by the protocol layer, thus completing the "deceptive" compensation.

[0121] In the clock compensation method based on satellite communication provided in this application, the corresponding prediction model is loaded by utilizing the geographical environment of the terminal to predict the changes in physical layer latency. Then, based on the predicted latency changes, feedforward compensation can be performed on the local clock at the physical layer, which improves the accuracy of time synchronization and achieves high-precision time synchronization in all weather and all terrain conditions.

[0122] In some embodiments, combined with Figure 2 ,like Figure 6 As shown, after step 205 above, the clock compensation method based on satellite communication provided in this application embodiment may further include the following steps 301 or 302.

[0123] Step 301: When the global scene information indicates that the current geographical environment of the terminal is the land environment, if the signal obstruction probability contained in the link state prediction information is greater than or equal to 1, the clock compensation device based on satellite communication maintains the time output of the local clock based on the frequency inertia of the local clock at the previous moment.

[0124] Step 302: When the global scene information indicates that the current geographical environment of the terminal is the marine environment, the satellite communication-based clock compensation device predicts the wave frequency based on the link status prediction information, and then filters the local clock based on a notch filter with the center frequency of the wave frequency.

[0125] It should be noted that traditional clock synchronization uses a PID feedback control loop, which adjusts the crystal oscillator voltage based on the received packet transmission error. This application focuses on "predictive intervention," which alters the operating state of the PID controller, thereby protecting the clock from future misalignment.

[0126] In this embodiment, when the terminal is currently in a terrestrial environment, the link state prediction information obtained by the satellite communication clock compensation device is a signal obstruction probability P. block The signal obstruction probability is used to characterize whether the signal will be obstructed by obstacles such as mountains in the foreground within a predetermined time period.

[0127] In this embodiment of the application, when the current geographical environment of the terminal is a marine environment, the link state prediction information obtained by the clock compensation device based on satellite communication includes the vertical displacement Δh(t) of the terminal relative to the sea level and the instantaneous speed of the terminal at the expected time when the future PTP message arrives. The vertical displacement Δh(t) is used to characterize the displacement of the buoy that will be raised or lowered by the waves at the expected time when the future PTP message arrives.

[0128] In one example, for a land-based scenario, the traditional approach is "signal loss → no packets found → panic and rush to keep to the correct time." During this ebb tide, the last few "broken packets / multiple packets" transmitted by the oblique rays of the mountains will generate significant errors. To eliminate these large errors, the PID controller will continuously adjust, causing the clock to become completely out of order for the next few minutes. The strategy of this application is to actively apply the brakes and freeze the integral term (I-term) of the PID controller just before the signal is about to be blocked, based on the DEM map. It no longer listens to any subsequent beacon signals, but instead relies on the perfect frequency inertia at the moment before the network loss to let the local clock run on its own, thus preserving future clock accuracy.

[0129] In another example, for an ocean scenario, the ocean surface rises and falls with the waves every 5 seconds. A traditional PID controller would assume the clock is alternating between fast and slow every 5 seconds and adjust accordingly wildly, causing the clock to jitter constantly. The strategy in this application is to use the wave frequency f calculated from the aforementioned link state prediction information. wave A notch filter with a center frequency of the aforementioned ocean wave frequency can be directly inserted into the PID control loop to specifically filter out f. wave Interference signals at this frequency are filtered out. In this way, the local clock will only adjust to time by drifting with the satellites in the sky, completely ignoring the deception of the ocean waves, thus ensuring the smoothness and stability of the clock in the future.

[0130] It should be noted that steps 201 to 205 are feedforward open-loop compensation (for each data packet). This requires a data packet to arrive. If the signal from the mining card or buoy is completely interrupted, and no PTP packets are transmitted, steps 201 to 205 will fail. In this case, the terminal's local clock will deviate due to crystal aging and temperature changes. Step 301 is closed-loop servo control (for the local hardware crystal oscillator). Its function is to forcibly stabilize the clock when there are no packets or the packet quality is extremely poor.

[0131] It should be noted that the execution order of steps 205 and 301 or step 302 described above is not limited in this embodiment. For example, step 205 can be executed first, followed by step 301 or step 302; or, step 301 or step 302 can be executed first, followed by step 205; or, steps 205 and 301 or step 302 can be executed simultaneously. Figure 6 This example illustrates the process of executing step 205 first, followed by step 301 or step 302.

[0132] In this way, by predictive intervention, the operating state of the PID controller is changed, thereby protecting the future clock from being derailed.

[0133] This application proposes an end-to-end clock synchronization enhancement method operating at the bottom layer of an industrial-grade 5G-NTN module. Logically, this method resides between the PHY (Physical Layer) and MAC (Media Access Control Layer), forming a tightly closed-loop control system. The following specific embodiments illustrate the satellite communication-based clock compensation method of this application.

[0134] like Figure 7 As shown, the implementation process of the clock compensation method based on satellite communication provided in this application includes the following STEP 1 to STEP 5:

[0135] STEP 1 consists of three parts: environmental fingerprint recognition, STFT frequency domain feature analysis, and scene determination (land mode OR ocean mode).

[0136] This step is the initiation stage of the entire method. It solves the "uncertainty" problem of model selection and provides a basis for decision-making in subsequent steps.

[0137] First, input data is collected in real time from the terminal sensor array, including the IMU's three-axis acceleration, GNSS positioning coordinates, and satellite ephemeris demodulated from the downlink. Then, processing logic is executed. The system performs a sliding-window short-time Fourier transform (STFT) on the IMU vertical acceleration data to extract frequency domain feature fingerprints. If a low-frequency peak of 0.05Hz to 0.5Hz exists in the spectrum, and the energy distribution conforms to the Pierson-Moskowitch (PM) wave spectrum characteristics, the system determines that the current environment is marine. If the spectrum exhibits non-periodic high-frequency fluctuations or frequent step impacts (sudden stops and starts), and the GNSS coordinates are located within a preset geofence (such as a mining area), the system determines that the current environment is terrestrial. Finally, the output results are generated as a global scene flag, Flagscene ∈ {LAND, SEA}, which directly controls the branch direction of STEP 2.

[0138] STEP 2: Dual-branch link status and physical distance prediction (model loading and prediction layer). This step responds to the output of STEP 1. For example, Figure 7 As shown, this step has two branches: STEP 2-A and STEP 2-B. STEP 2-A mainly focuses on the land branch, including DEM ray tracing and predicting the occlusion probability P. block STEP 2-B primarily targets the marine branch, including wave spectrum reconstruction and prediction of vertical displacement Δh(t). It should be noted that terrestrial environments typically exhibit high-frequency vibrations, while marine environments typically exhibit low-frequency fluctuations.

[0139] Specifically, the corresponding prediction model is dynamically loaded according to Flagscene, which aims to transform the lagging measurement data into the advanced link state prediction value (i.e. the above link state prediction information), providing core parameters for the calculation of STEP 3 and the decision of STEP 5.

[0140] Specifically, when Flagscene = LAND, the DEM-based ray tracing model is activated, actions are executed, the locally stored DEM is retrieved, and a virtual ray is emitted from the current vehicle position as the origin towards the satellite position. Then, the prediction result I is output, and the future T is calculated. win The occlusion probability P within the time window block If the ray intersects with the terrain grid, set P. block = 1. This parameter will directly trigger the timekeeping strategy of STEP 5.

[0141] When Flagscene = SEA, the wave reconstruction model based on Kalman filtering is initiated and begins execution. An Extended Kalman Filter (EKF) is used to perform regression analysis on historical IMU data, fitting the instantaneous wave phase equation. Then, prediction result II is output, predicting the vertical displacement Δh(t) of the buoy relative to the mean sea level at the time of PTP message arrival. This parameter will be used as a correction term in STEP 3.

[0142] STEP 3: Calculate the physical path length difference between the upper and lower planetary-to-ground links using asymmetric differential time delay calculation of the satellite-to-ground link (this step can be considered the parameter solution layer). This step is the data fusion center. It combines the macroscopic motion data (ephemeris) of the satellite with the microscopic environmental prediction data (Δh or vehicle speed) output from STEP 2 to quantify the path difference at the physical level.

[0143] For example, data fusion is first performed, and the satellite velocity vector Vsat is calculated using satellite ephemeris. Then, the terminal's precise velocity vector Vue is obtained using IMU data and the model correction from STEP 2. Finally, the satellite-to-ground relative radial velocity Vrel(t) is calculated. Specifically, the PTP protocol uplink (Req) can be calculated based on Equation 2. Resp) and downlink (Sync) The physical path length difference δ of FollowUp path The final output is the exact physical path difference δ. path This value is then passed to STEP 4.

[0144] (Formula 2)

[0145] STEP 4: Physical Layer Timestamp Feedforward Compensation (Execution Layer - For Data Packets). This step is the execution endpoint of STEP 3. It converts the physical error calculated in STEP 3 into a positive time value recognizable by the protocol layer, completing the "deceptive" compensation. First, the conversion business logic is executed, which can convert the path difference into a time compensation value based on Formula 1: T comp = δ path / c (where c is the speed of light). Then, a compensation process is performed. At the instant the PHY layer captures the PTP packet, the IEEE 802.1AS frame header is parsed, and T can be used based on formula 3. comp Modify the `correctionField` field in place: Finally, the Doppler effect and the environmental jitter predicted by STEP 2 were removed from the messages received by the upper-layer TSN protocol stack, achieving transparent compensation at the physical layer.

[0146] STEP 5: Adaptive Servo Loop and Timekeeping Control (Execution Layer - for Clock State). This step, STEP 3 and STEP 4, are executed concurrently, but are directly controlled by the predicted state of STEP 2. STEP 4 is responsible for fixing the "current package," and STEP 5 is responsible for fixing the "future clock." Together, they ensure the robustness of the system.

[0147] Execute strategy A (responding to the land occlusion prediction in STEP 2), first determine the occlusion probability output by STEP 2. (Predicting imminent entry into the mine pit area) Triggering conditions. Before the signal is disconnected, immediately freeze the integral term (I-term) of the PID controller, cut off the PTP input, and force entry into "Holdover mode." Maintain the clock using the optimal bias model trained just before the blockage, preventing multipath signals from introducing erroneous noise.

[0148] Execute strategy B (responding to STEP 2 ocean wave prediction), first determine when an ocean pattern is detected and the wave frequency is [value missing]. Time-triggered condition. Execution begins by connecting a circuit with a center frequency of [value missing] in series within the PID control loop. The notch filter is designed to specifically filter out periodic measurement noise caused by waves, tracking only the long-term drift of the satellite clock.

[0149] In summary, this application employs a five-step cascaded architecture of "perception-prediction-computation-compensation-control." There are strict data dependencies and logical progressions between each step: STEP 1 provides the system with an environmental context, driving STEP 2 to load a specific physical model; the prediction result of STEP 2 is split into two paths, one input to STEP 3 for precise error calculation, and the other input to STEP 5 to adjust the control strategy; the physical error calculated in STEP 3 is finally converted into a timestamp correction value in STEP 4 and injected into the protocol stack. Thus, it can be seen that... Figure 7 The data flow is clearly shown from the perception result distribution in STEP 1, to the model loading in STEP 2, and then to the parallel processing in STEP 3 / 4 and STEP 5, demonstrating the strong coupling between perception and control.

[0150] like Figure 8 The system scenario architecture diagram of this application is shown below. The left side shows land mining trucks using DEM maps to predict occlusion (STEP 2-A), the right side shows ocean buoys using wave models to predict undulations (STEP2-B), and the top shows a shared 5G-NTN satellite network.

[0151] This application proposes a multimodal environment-aware 5G-NTN clock compensation method based on satellite communication. The core of this method lies in the terminal's ability to automatically identify whether it is currently in a "highly dynamic land" or "periodic ocean" scenario by jointly analyzing IMU frequency domain characteristics and geographic information, and dynamically loading the corresponding link prediction model. Furthermore, it proposes a predictive timekeeping mechanism based on DEM (land branch), which utilizes DEM for satellite-to-ground line-of-sight ray tracing and proactively switches to inertial timekeeping mode before physical signal interruption. It also proposes a vertical delay compensation mechanism based on wave reconstruction (ocean branch), which uses IMU data to fit the wave motion equation, calculates the path asymmetry error caused by vertical displacement within the PTP transmission window, and cancels it at the physical layer.

[0152] This application also proposes a control architecture that combines bottom-level feedforward and top-level feedback: a dual synchronous protection architecture that combines physical layer modification of the correction field (open-loop compensation) with adaptive adjustment of PID parameters (closed-loop control).

[0153] Thus, this application addresses the core requirement of integrated air-space-ground collaboration in the Industrial Internet. Through innovative multimodal environmental perception and physical layer clock compensation algorithms, it overcomes the microsecond-level synchronization challenge of 5G-NTN satellite-to-ground links under highly dynamic and time-varying conditions. This application fills the gap in deterministic transmission of satellite networks, upgrading the NTN network to a wide-area deterministic network with industrial-grade stability, meeting the stringent requirements for ultra-long-distance precise collaboration in scenarios such as unmanned mines and deep-sea operations. Furthermore, due to its hardware-software co-working underlying algorithm architecture, this application can be easily embedded into existing 5G-NTN communication modules and baseband chips. It can be deeply integrated with industrial gateways as a "ubiquitous satellite-to-ground connectivity enhancement package," quickly establishing a commercial closed loop from algorithm development to mass production of high-end industrial modules.

[0154] It should be noted that the descriptions of each step in this embodiment can be found in the above embodiments, and will not be repeated here.

[0155] It should be noted that the above-described method embodiments, or the various possible implementations of the method embodiments, can be executed individually, or, provided there is no conflict, they can be combined with each other. The specific implementation can be determined according to actual usage requirements, and this application embodiment does not impose any restrictions on this.

[0156] As can be seen, the above mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the embodiments of this application provide corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the modules and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application 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 this application.

[0157] This application embodiment can divide the satellite communication-based clock compensation device into functional modules according to the above method example. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0158] In some embodiments, this application also provides a satellite communication-based clock compensation device. This satellite communication-based clock compensation device may include one or more functional modules for implementing the satellite communication-based clock compensation method described in the above embodiments.

[0159] For example, Figure 9 This is a schematic diagram of a clock compensation device based on satellite communication, provided as an embodiment of this application. Figure 9 As shown, the satellite communication-based clock compensation device 900 includes: an acquisition module 901, a receiving module 902, a generation module 903, a processing module 904, and a compensation module 905, wherein...

[0160] The acquisition module 901 is used to acquire the real-time spatiotemporal status information of the terminal;

[0161] The receiving module 902 is used to receive ephemeris data transmitted by the satellite through the lower planetary-to-ground link; the aforementioned spatiotemporal status information includes the motion status information of the aforementioned terminal and satellite navigation and positioning data;

[0162] The generation module 903 is used to generate global scene information based on the spatiotemporal state information obtained by the acquisition module 901; the global scene information indicates the geographical environment where the terminal is currently located.

[0163] The processing module 904 is used to load a target prediction model that matches the geographical environment based on the global scene information generated by the generation module 903, and to process the measurement data collected at the historical time through the prediction model to predict the link status prediction information of the next planet-to-ground link at the next time.

[0164] The processing module 904 is further configured to calculate the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link based on the ephemeris data and link status prediction information received by the receiving module 902, and convert the physical path length difference into a time compensation value that can be recognized by the protocol layer.

[0165] The compensation module 905 is used to perform time compensation at the physical layer based on the time compensation value obtained by the processing module 904.

[0166] In the satellite communication-based clock compensation device provided in this application, the corresponding prediction model is loaded by utilizing the geographical environment of the terminal to predict the changes in physical layer latency. Then, based on the predicted latency changes, feedforward compensation can be performed on the local clock at the physical layer, improving the accuracy of time synchronization and achieving high-precision time synchronization in all weather and all terrain conditions.

[0167] In some embodiments, the processing module 904 is specifically used for:

[0168] Based on the mapping relationship between the prediction model and the geographic environment, a target prediction model that matches the geographic environment indicated by the above-mentioned geographic environment markers is determined; the above-mentioned geographic environment includes terrestrial environment or marine environment.

[0169] Load the target prediction model described above.

[0170] In other embodiments, the processing module 904 described above is specifically used for:

[0171] Based on the above ephemeris data, the velocity values ​​of the above satellites were determined;

[0172] Based on the motion state information of the aforementioned terminal and the link state prediction information, the speed value of the aforementioned terminal is determined.

[0173] Based on the velocity data of the aforementioned satellite and the velocity data of the aforementioned terminal, the relative radial velocity value between the satellite and the ground is calculated.

[0174] Based on the aforementioned relative radial velocity values ​​between the satellite and the ground and the aforementioned link status prediction information, the difference in physical path length between the aforementioned upper planetary-to-ground link and the aforementioned lower planetary-to-ground link is calculated.

[0175] In some other embodiments, the compensation module 905 described above is specifically used for:

[0176] When the physical layer receives a PTP message, it parses the frame header of the PTP message and extracts the original time correction value carried in the correction field of the frame header.

[0177] Based on the aforementioned time compensation value and the aforementioned original time correction value, update the correction field in the aforementioned PTP message.

[0178] In some other embodiments, the processing module 904 is further configured to:

[0179] If the global scene information indicates that the current geographical environment of the terminal is the land environment, and the signal obstruction probability contained in the link state prediction information is greater than or equal to the first threshold, then the local clock time output is maintained based on the frequency inertia of the local clock at the previous moment; or, if the global scene information indicates that the current geographical environment of the terminal is the ocean environment, the wave frequency is predicted based on the link state prediction information, and then the local clock is filtered based on a notch filter with the center frequency of the wave frequency.

[0180] It should be noted that the clock compensation device based on satellite communication can implement all the processes implemented in the above method embodiments and achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0181] In the case where the functions of the integrated modules described above are implemented in hardware, this application provides a possible structural schematic diagram of the electronic device involved in the above embodiments. For example... Figure 10 As shown, the electronic device 90 includes: a processor 92, a communication interface 93, and a bus 94. Optionally, the electronic device 90 may also include a memory 91.

[0182] Processor 92 may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 92 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 the disclosure of this application. Processor 92 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0183] Communication interface 93 is used to connect with other devices via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0184] The memory 91 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage media or other magnetic storage devices, 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.

[0185] As one possible implementation, the memory 91 can exist independently of the processor 92. The memory 91 can be connected to the processor 92 via a bus 94 and is used to store instructions or program code. When the processor 92 calls and executes the instructions or program code stored in the memory 91, it can implement the clock compensation method based on satellite communication provided in the embodiments of this application.

[0186] In another possible implementation, memory 91 can also be integrated with processor 92.

[0187] Bus 94 can be an Extended Industry Standard Architecture (EISA) bus, etc. Bus 94 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 10 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.

[0188] Through the above description of the implementation methods, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the service calling device can be divided into different functional modules to complete all or part of the functions described above.

[0189] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described clock compensation method embodiment based on satellite communication, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0190] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0191] This application also provides a readable storage medium storing a program or instructions that, when executed by a computer, implement the satellite communication-based clock compensation method provided in the above embodiments. It is understood that all or part of the processes in the above method embodiments can be executed by computer instructions instructing related hardware; the readable storage medium can be any of the foregoing embodiments or memory; the readable storage medium can also be an external storage device of the service invocation device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the service invocation device. Further, the readable storage medium can include both internal storage units of the service invocation device and external storage devices. The readable storage medium is used to store the computer program and other programs and data required by the service invocation device. The readable storage medium can also be used to temporarily store data that has been output or will be output.

[0192] This application also provides a computer program product, which is stored in a storage medium and, when executed by a computer, implements the clock compensation method based on satellite communication provided in the above embodiments.

[0193] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0194] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0195] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A clock compensation method based on satellite communication, characterized in that, The method includes: The system acquires real-time spatiotemporal status information of the terminal and receives ephemeris data transmitted by the satellite via a lower planetary-to-ground link; the spatiotemporal status information includes the terminal's motion status information and satellite navigation and positioning data. Based on the spatiotemporal state information, global scene information is generated; the global scene information is used to indicate the current geographical environment of the terminal. Based on the global scene information, a target prediction model matching the geographical environment is loaded, and the measurement data collected at the historical moment is processed by the target prediction model to predict the link status information of the next planet-to-ground link at the next moment. Based on the ephemeris data and the link status prediction information, the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link is calculated, and the physical path length difference is converted into a time compensation value that can be recognized by the protocol layer. Time compensation is performed at the physical layer based on the time compensation value.

2. The method according to claim 1, characterized in that, The global scene information includes geographic environment flags, which indicate the current geographic environment of the terminal; the step of loading a target prediction model that matches the geographic environment based on the global scene information includes: Based on the mapping relationship between the prediction model and the geographic environment, a target prediction model that matches the geographic environment indicated by the geographic environment marker is determined; the geographic environment includes a terrestrial environment or a marine environment. Load the target prediction model.

3. The method according to claim 2, characterized in that, If the geographic environment indicated by the geographic environment marker is the terrestrial environment, then the target prediction model is a ray tracing model based on the digital elevation model (DEM); or, if the geographic environment indicated by the geographic environment marker is the marine environment, then the target prediction model is a wave reconstruction model based on Kalman filtering.

4. The method according to claim 1, characterized in that, The calculation of the physical path length difference between the upper planetary-to-Earth link and the lower planetary-to-Earth link based on the ephemeris data and the link status prediction information includes: Based on the ephemeris data, the velocity value of the satellite is determined; The speed value of the terminal is determined based on the motion state information of the terminal and the link state prediction information; Based on the satellite's velocity data and the terminal's velocity data, the relative radial velocity between the satellite and the ground is calculated. Based on the relative radial velocity value between the satellite and the ground and the link status prediction information, the difference in physical path length between the upper planetary-to-ground link and the lower planetary-to-ground link is calculated.

5. The method according to claim 1, characterized in that, The time compensation at the physical layer based on the time compensation value includes: When a PTP message is received at the physical layer, the frame header of the PTP message is parsed, and the original time correction value carried in the correction field of the frame header is extracted. Based on the time compensation value and the original time correction value, update the correction field in the PTP message.

6. The method according to claim 1, characterized in that, After generating global scene information based on the spatiotemporal state information, the method further includes: When the global scene information indicates that the current geographical environment of the terminal is the land environment, if the signal obstruction probability contained in the link state prediction information is greater than or equal to the first threshold, the local clock time output is maintained based on the local clock frequency inertia of the previous moment. Alternatively, if the global scene information indicates that the current geographical environment of the terminal is the marine environment, the wave frequency is predicted based on the link state prediction information, and then the local clock is filtered based on a notch filter with the center frequency of the wave frequency.

7. A clock compensation device based on satellite communication, characterized in that, The satellite communication-based clock compensation device includes: an acquisition module, a receiving module, a generation module, a processing module, and a compensation module; The acquisition module is used to acquire the real-time spatiotemporal status information of the terminal; The receiving module is used to receive ephemeris data transmitted by the satellite through the lower planetary-to-ground link; the spatiotemporal status information includes the motion status information of the terminal and satellite navigation and positioning data; The generation module is used to generate global scene information based on the spatiotemporal state information obtained by the acquisition module; the global scene information indicates the geographical environment in which the terminal is currently located. The processing module is used to load a target prediction model that matches the geographical environment based on the global scene information generated by the generation module, and to process the measurement data collected at the historical time through the prediction model to predict the link status prediction information of the next planet-to-ground link at the next time. The processing module is further configured to calculate the physical path length difference between the upper planetary-to-ground link and the lower planetary-to-ground link based on the ephemeris data and the link state prediction information received by the receiving module, and convert the physical path length difference into a time compensation value that can be recognized by the protocol layer. The compensation module is used to perform time compensation at the physical layer based on the time compensation value obtained by the processing module.

8. The clock compensation device based on satellite communication according to claim 7, characterized in that, The processing module is specifically used for: Based on the mapping relationship between the prediction model and the geographic environment, a target prediction model that matches the geographic environment indicated by the geographic environment marker is determined; the geographic environment includes a terrestrial environment or a marine environment. Load the target prediction model.

9. The clock compensation device based on satellite communication according to claim 8, characterized in that, If the geographic environment indicated by the geographic environment marker is the terrestrial environment, then the target prediction model is a ray tracing model based on the digital elevation model (DEM); or, if the geographic environment indicated by the geographic environment marker is the marine environment, then the target prediction model is a wave reconstruction model based on Kalman filtering.

10. The clock compensation device based on satellite communication according to claim 7, characterized in that, The processing module is specifically used for: Based on the ephemeris data, the velocity value of the satellite is determined; The speed value of the terminal is determined based on the motion state information of the terminal and the link state prediction information; Based on the satellite's velocity data and the terminal's velocity data, the relative radial velocity between the satellite and the ground is calculated. Based on the relative radial velocity value between the satellite and the ground and the link status prediction information, the difference in physical path length between the upper planetary-to-ground link and the lower planetary-to-ground link is calculated.

11. The clock compensation device based on satellite communication according to claim 7, characterized in that, The compensation module is specifically used for: When a PTP message is received at the physical layer, the frame header of the PTP message is parsed, and the original time correction value carried in the correction field of the frame header is extracted. Based on the time compensation value and the original time correction value, update the correction field in the PTP message.

12. The clock compensation device based on satellite communication according to claim 7, characterized in that, The processing module is also used for: When the global scene information indicates that the current geographical environment of the terminal is the land environment, if the signal obstruction probability contained in the link state prediction information is greater than or equal to the first threshold, the local clock time output is maintained based on the local clock frequency inertia of the previous moment. Alternatively, if the global scene information indicates that the current geographical environment of the terminal is the marine environment, the wave frequency is predicted based on the link state prediction information, and then the local clock is filtered based on a notch filter with the center frequency of the wave frequency.

13. An electronic device, characterized in that, It includes a processor and a memory, the memory storing programs or instructions that can run on the processor, the programs or instructions being executed by the processor to implement the clock compensation method based on satellite communication as described in any one of claims 1-6.

14. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a computer, implement the clock compensation method based on satellite communication as described in any one of claims 1-6.

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