Multi-constellation system protocol conversion method, system, device, medium and program product

Abstract

The application discloses a multi-constellation system protocol conversion method, system, device, medium and program product, and the method comprises the steps of constructing a multi-level software middleware architecture independent of underlying hardware; performing protocol conversion based on the multi-level software middleware architecture, comprising: connecting receiver hardware based on a driver abstraction layer, obtaining original observation data and navigation text of each constellation through a standardized hardware abstraction interface; analyzing the original observation data and navigation text of each constellation obtained by the driver abstraction layer based on a protocol analysis layer to obtain analysis data; performing conversion processing on the analysis data obtained by the protocol analysis layer based on the core conversion layer to realize unified time system, standardized text format, automatic coordinate system adaptation and intelligent selection of optimal time source; and providing standardized time service based on a unified interface layer. The application solves the problems of non-unified multi-constellation time reference, non-compatible protocol, lack of intelligence in optimal time source selection and the like.

Description

Technical Field

[0001] This application relates to the field of global satellite navigation and time synchronization technology and protocol conversion, and more specifically, to a method, system, device, medium and program product for multi-constellation system protocol conversion. Background Technology

[0002] The global navigation satellite system has evolved into a landscape of four independent systems coexisting. The United States' GPS, completed in 1994, is currently the most technologically mature system; Russia's GLONASS restored global coverage in 2011, with excellent polar coverage performance; China's BeiDou system completed its global network in 2020, possessing regional enhancement advantages; and the European Union's Galileo achieved full operational capability in 2023, leading in civilian signal accuracy.

[0003] Each system uses a different time base. GPS time has been calculated since 00:00 on January 6, 1980, without leap second adjustments, and is a continuous time system, currently differing from UTC by approximately 18 seconds. BeiDou time has been calculated since 00:00 on January 1, 2006, without leap second adjustments, and is currently differing from UTC by 4 seconds. GLONASS time is synchronized with UTC, including leap second adjustments, with the deviation consistently within 0 to 0.001 seconds. Galileo time has been calculated since 00:00 on August 22, 1999, and is also a continuous time system, currently differing from UTC by approximately 18 seconds. The time deviations between the systems exhibit time-varying characteristics: GPST leads BDT by approximately 19 seconds, GPST leads GST by approximately 13 seconds, while GLONASS is highly consistent with UTC.

[0004] The signal formats and coordinate frames of each system also differ. GPS uses L1C / A, L2C, L5 signals and NAV / CNAV message formats; BeiDou uses B1I, B1C, B2a signals; GLONASS uses FDMA signaling; and Galileo uses BOC modulated signals. Regarding coordinate reference systems, GPS uses WGS-84, BeiDou uses CGCS2000, GLONASS uses PZ-90, and Galileo uses GTRF, with decimeter-level discrepancies between the frames.

[0005] In view of this, the Global Navigation Satellite System has the following drawbacks: (1) Lack of a unified middleware architecture. Existing multi-constellation processing is usually implemented in the form of hardware firmware, with the data of each system tightly coupled at the underlying level, making upgrades difficult. When the signal format of a constellation is updated, the hardware needs to be redesigned, which cannot be adapted through the software level, and the cost of adding support for new constellations is high.

[0006] (2) Inconsistent time systems lead to bottlenecks in time synchronization accuracy. Single-constellation time synchronization devices only output the time of a single system. When multiple-constellation receivers receive signals from multiple systems simultaneously, the time reference deviation of each system needs to be accurately compensated in real time. Traditional methods use a fixed-deviation lookup table method, with accuracy only on the order of microseconds, which cannot meet the requirements for high-precision time synchronization at the nanosecond level.

[0007] (3) Lack of intelligent decision-making in time source selection. The availability and accuracy of each system change dynamically: BeiDou coverage is better in urban canyons, GLONASS performance is better in polar regions, and Galileo geometry is better at certain times. Existing receivers use fixed priorities or simple signal-to-noise ratio thresholds to make judgments, which cannot comprehensively evaluate the status of each system and dynamically select the optimal time source.

[0008] (4) Incompatibility between signal protocols and message formats. The coding rules of navigation messages in the four major systems differ significantly: GPS uses a 50bps data rate and subframe structure; BeiDou uses D1 / D2 dual-rate messages; GLONASS uses an 85-bit string structure; and Galileo uses an I / NAV paging mechanism. Existing receivers typically only have single-system decoding capabilities and lack a unified decoding framework for cross-system messages.

[0009] Therefore, there is an urgent need to study a multi-constellation system protocol conversion method and system. By constructing a multi-layered software middleware architecture independent of the underlying hardware, it is possible to achieve real-time unification of multi-constellation time bases, lossless conversion of navigation message protocols, and intelligent selection of the optimal time source, providing a unified, high-precision, and highly reliable time base and standardized interface to the outside world. Summary of the Invention

[0010] Accordingly, this application proposes a multi-constellation system protocol conversion method, system, device, medium, and program product to solve at least one of the above-mentioned technical problems.

[0011] According to a first aspect of this application, embodiments of this application provide a multi-constellation system protocol conversion method, including: Construct a multi-layered software middleware architecture independent of the underlying hardware. The multi-layered software middleware architecture includes a driver abstraction layer, a protocol parsing layer, a core conversion layer, and a unified interface layer. Protocol conversion based on the aforementioned multi-layered software middleware architecture includes: Based on the driver abstraction layer, the receiver hardware is connected, and the raw observation data and navigation messages of each constellation are obtained through a standardized hardware abstraction interface. The protocol parsing layer parses the original observation data and navigation messages of each constellation obtained by the driving abstraction layer to obtain parsed data. The protocol parsing layer includes independent navigation message parsers that work in parallel and correspond one-to-one with each constellation. Each navigation message parser parses the original observation data and navigation messages of each constellation obtained by the driving abstraction layer in parallel and independently, and performs frame synchronization, subframe parsing, parity checking and parameter extraction to obtain parsed data. The core conversion layer processes the parsed data obtained from the protocol parsing layer to achieve unified time systems for each constellation, standardized message formats, automatic coordinate system adaptation, and intelligent selection of the optimal time source. The core conversion layer includes a time conversion engine, a message reconstruction engine, a coordinate conversion engine, and an intelligent selection engine. The time conversion engine unifies the time systems for each constellation, the message reconstruction engine performs message format conversion to achieve standardized message formats, the coordinate conversion engine performs coordinate frame conversion to achieve automatic coordinate system adaptation, and the intelligent selection engine selects the optimal time source. Standardized time synchronization services are provided based on a unified interface layer, and standardized timestamp service interfaces and system status monitoring interfaces are provided to the outside world based on the conversion processing results of the core conversion layer.

[0012] In some embodiments, the time conversion engine is used to unify the time systems of various constellations, including: The time conversion engine uses a Kalman filter-based real-time inter-system deviation estimation and time unification algorithm to achieve real-time unification of time bases for each constellation.

[0013] In some embodiments, the optimal time source selection is achieved based on the intelligent selection engine, including: The intelligent selection engine employs a multi-factor weighted scoring optimal time source intelligent selection algorithm. It dynamically and intelligently selects weight values, calculates the comprehensive score for each zodiac sign, and dynamically selects the zodiac sign with the highest comprehensive score as the optimal time source, including: Collect the status parameters of each constellation, calculate each sub-score in turn, and obtain the comprehensive score of each constellation by weighted summation based on the dynamically intelligently selected weight values. Sort the comprehensive scores of each constellation to select the optimal time source, calculate the difference between the comprehensive score of the constellation with the optimal time source and the average comprehensive score of the constellation as an available time source, and determine whether to trigger the switching mode of first locking the alternative time source and then disconnecting the current time source based on whether the difference exceeds the threshold, so as to ensure that the output of the optimal time source is continuous and without jumps.

[0014] In some embodiments, message format conversion is performed based on the message reconstructing engine to achieve message format standardization. This includes the message reconstructing engine using a protocol conversion mechanism based on an intermediate presentation layer to define a unified data structure, and each constellation message being converted into the unified data structure format through a dedicated mapping function. The unified data structure includes common fields such as satellite number, ephemeris, orbital parameters, clock error parameters, and health identifier. The coordinate transformation engine is used to perform coordinate frame transformation to achieve automatic coordinate system adaptation. The coordinate transformation engine uses a seven-parameter Bursa model for coordinate frame transformation, and the transformation parameters include three translation parameters, three rotation parameters and one scale parameter.

[0015] In some embodiments, the multi-layered software middleware architecture further includes a two-level time traceability verification module, which includes a real-time comparison verification unit and a post-event traceability verification unit. The real-time comparison and verification unit compares the unified reference time with the external reference source in real time, and triggers automatic calibration when the deviation exceeds the threshold. The post-event traceability verification unit periodically generates a time traceability chain file containing time deviation curves for each constellation, estimated inter-system deviations, Kalman filter residuals, and comparison records for use in time-frequency traceability.

[0016] In some embodiments, the multi-layered software middleware architecture includes a plug-in architecture-based compatible extension interface, which includes: a constellation description file interface, a plug-in registration interface, and a runtime dynamic loading interface. The runtime dynamic loading interface enables newly added navigation constellation plugins to be loaded as dynamic link libraries at runtime, without the need to recompile the multi-layered software middleware architecture.

[0017] According to a second aspect of this application, a multi-constellation system protocol conversion system is provided, comprising: A multi-layered software middleware architecture, independent of the underlying hardware, is configured to perform protocol conversion; the multi-layered software middleware architecture includes a driver abstraction layer, a protocol parsing layer, a core conversion layer, and a unified interface layer, wherein: The driving abstraction layer is configured to connect to the receiver hardware and obtain the raw observation data and navigation messages of each constellation through a standardized hardware abstraction interface. The protocol parsing layer is configured to parse the raw observation data and navigation messages of each constellation obtained by the driving abstraction layer to obtain parsed data. The protocol parsing layer includes independent navigation message parsers that work in parallel and correspond one-to-one with each constellation. Each navigation message parser parses the raw observation data and navigation messages of each constellation obtained by the driving abstraction layer in parallel and independently, and performs frame synchronization, subframe parsing, parity checking and parameter extraction to obtain parsed data. The core conversion layer is configured to convert and process the parsed data obtained by the protocol parsing layer, thereby achieving the unification of time systems for each constellation, standardization of message formats, automatic adaptation of coordinate systems, and intelligent selection of the optimal time source. The core conversion layer includes a time conversion engine, a message reconstruction engine, a coordinate conversion engine, and an intelligent selection engine. The time conversion engine unifies the time systems for each constellation, the message reconstruction engine performs message format conversion to achieve message format standardization, the coordinate conversion engine performs coordinate frame conversion to achieve automatic adaptation of coordinate systems, and the intelligent selection engine selects the optimal time source. The unified interface layer is configured to provide standardized time synchronization services, and provides standardized timestamp service interfaces and system status monitoring interfaces to the outside world based on the conversion processing results of the core conversion layer.

[0018] According to a third aspect of this application, an electronic device is provided, comprising: a processor and a memory storing a computer program, the processor being configured to implement the methods described in the above embodiments when running the computer program.

[0019] According to a fourth aspect of this application, a storage medium is provided that stores a computer program configured to be executed to implement the methods described in the above embodiments.

[0020] According to a fifth aspect of this application, a program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the methods described in the above embodiments.

[0021] The beneficial effects of the embodiments of this application include at least the following: This application embodiment achieves decoupling between the application layer and hardware of the Global Navigation Satellite System (GNSS) by constructing a multi-layered software middleware architecture, enabling seamless cross-constellation interoperability of multiple constellations, and reducing development complexity and upgrade and maintenance costs; This application embodiment converts the parsed data obtained by the protocol parsing layer based on the core conversion layer, realizing the unification of time systems for each constellation, standardization of message formats, automatic adaptation of coordinate systems, and intelligent selection of the optimal time source. The core conversion layer includes a time conversion engine, a message reconstruction engine, a coordinate conversion engine, and an intelligent selection engine. The time conversion engine unifies the time systems for each constellation, the message reconstruction engine performs message format conversion to achieve message format standardization, the coordinate conversion engine performs coordinate frame conversion to achieve automatic adaptation of coordinate systems, and the intelligent selection engine achieves optimal time source selection. Furthermore, protocol conversion is achieved through a time conversion engine, a coordinate conversion engine, and a message reassembly engine. Protocol conversion encompasses three levels: time conversion, coordinate conversion, and message conversion. Time conversion is implemented using a unified time estimation algorithm based on Kalman filtering for real-time inter-system bias estimation. Coordinate conversion employs a seven-parameter Bursa-Robbins model for coordinate frame transformation, with conversion parameters including three translation parameters, three rotation parameters, and one scale parameter. These parameters are pre-set in a multi-layered software middleware architecture and support online updates. Message conversion uses a protocol conversion mechanism based on an intermediate presentation layer to define a unified data structure. Messages from each constellation are converted to this unified data structure format through a dedicated mapping function. This unified data structure includes common fields such as satellite number, ephemeris, orbital parameters, clock bias parameters, and health identifiers. These three levels work collaboratively to ensure the complete conversion chain executes without distortion, overcoming protocol incompatibility issues. The time conversion engine uses a Kalman filter-based real-time inter-system deviation estimation time unification algorithm to achieve real-time unification of time bases for each constellation, achieving nanosecond-level accuracy, which is two orders of magnitude higher than the traditional fixed lookup table method. The intelligent selection engine employs a multi-factor weighted scoring optimal time source intelligent selection algorithm. It dynamically and intelligently selects weight values, calculates the comprehensive score of each constellation, and dynamically selects the constellation with the highest comprehensive score as the optimal time source. By selecting the optimal time source through the multi-factor weighted scoring optimal time source intelligent selection algorithm, the continuity of time synchronization can be improved by about 40% and the overall accuracy by about 35% in occluded environments. The embodiments of this application employ a plug-in architecture-based compatible extension interface, which reduces the workload of developing new constellations by approximately 70%.

[0022] Other optional features and technical effects of the embodiments of this application are partly described below and partly apparent from reading this document. Attached Figure Description

[0023] The embodiments of this application will now be described in detail with reference to the accompanying drawings. The elements shown are not limited to the scale shown in the drawings, and the same or similar reference numerals in the drawings denote the same or similar elements, wherein: Figure 1 A flowchart of a multi-constellation system protocol conversion method according to an embodiment of this application is shown; Figure 2 A schematic diagram of the modules of a multi-constellation system protocol conversion system according to an embodiment of this application is shown. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to specific embodiments and accompanying drawings. Here, the illustrative embodiments and descriptions of this application are used to explain this application, but are not intended to limit this application.

[0025] like Figure 1 As shown, a multi-constellation system protocol conversion method 100 according to an embodiment of this application is illustrated, comprising: S110: Construct a multi-layered software middleware architecture independent of the underlying hardware. The multi-layered software middleware architecture includes a driver abstraction layer, a protocol parsing layer, a core conversion layer, and a unified interface layer.

[0026] This application decouples the application layer of a global satellite navigation system from its hardware by constructing a multi-layered software middleware architecture that is independent of the underlying hardware.

[0027] In some embodiments of this application, the multi-layered software middleware architecture includes a four-layer middleware architecture, consisting of a driver abstraction layer, a protocol parsing layer, a core conversion layer, and a unified interface layer, from bottom to top. The bottom driver abstraction layer connects to the receiver hardware, the middle protocol parsing layer contains multiple independent parsers working in parallel, the upper core conversion layer contains a time conversion engine, a coordinate conversion engine, a message reconstruction engine, and an intelligent selection engine, and the top unified interface layer provides standardized APIs to the outside world, as detailed below.

[0028] S120: Perform protocol conversion based on the multi-layered software middleware architecture.

[0029] In some embodiments, S120 includes: S121: Based on the driver abstraction layer, the receiver hardware is connected to obtain the original observation data and navigation messages of each constellation through the standardized hardware abstraction interface.

[0030] In some specific embodiments, the driver abstraction layer connects to the receiver hardware, shields hardware differences, and obtains the original observation data and navigation message bit streams of each constellation through a standardized hardware abstraction interface.

[0031] Furthermore, the standardized hardware abstraction interface includes, but is not limited to, UART, SPI, USB, etc., and the driver abstraction layer supports access to various multimode receivers through physical links such as UART, SPI, USB, etc.

[0032] S122: Based on the protocol parsing layer, the original observation data and navigation messages of each constellation obtained by the driving abstraction layer are parsed to obtain parsed data; the protocol parsing layer includes independent navigation message parsers that work in parallel and correspond one-to-one with each constellation. Each navigation message parser parses the original observation data and navigation messages of each constellation obtained by the driving abstraction layer in parallel and independently, and performs frame synchronization, subframe parsing, parity check and parameter extraction to obtain parsed data.

[0033] In some specific examples, corresponding to the four independent constellation systems of the Global Navigation Satellite System (GNSS) – GPS, BeiDou, GLONASS, and Galileo – there are independent navigation message parsers corresponding to each constellation, including GPS navigation message parser, BeiDou navigation message parser, GLONASS navigation message parser, and Galileo navigation message parser. Each navigation message parser module independently completes frame synchronization, subframe parsing, parity checking, and parameter extraction.

[0034] S123: Based on the core conversion layer, the parsed data obtained by the protocol parsing layer is converted and processed to achieve the unification of time systems for each constellation, standardization of message formats, automatic adaptation of coordinate systems, and intelligent selection of the optimal time source; the core conversion layer includes a time conversion engine, a message reconstruction engine, a coordinate conversion engine, and an intelligent selection engine. Based on the time conversion engine, the time systems for each constellation are unified; based on the message reconstruction engine, message formats are converted to achieve standardization of message formats; based on the coordinate conversion engine, coordinate frames are converted to achieve automatic adaptation of coordinate systems; and based on the intelligent selection engine, the optimal time source is selected.

[0035] In some specific embodiments, the core conversion layer includes a unified time algorithm for real-time estimation of inter-system bias based on Kalman filtering, an intelligent selection algorithm for optimal time source with multi-factor weighted scoring, and a protocol conversion mechanism based on the intermediate representation layer.

[0036] In some specific examples, the time conversion engine is used to unify the time systems of various constellations. This includes the time conversion engine employing a Kalman filter-based real-time inter-system deviation estimation algorithm to achieve real-time unification of the time bases of various constellations. Specifically, this includes: S1231: Receive parsed data obtained from the protocol parsing layer, including multi-constellation observation data.

[0037] In some specific examples, multi-constellation observation data includes observation data from GPS, BeiDou, GLONASS, and Galileo.

[0038] S1232: Perform data quality checks on multi-constellation observation data.

[0039] In some specific examples, step S1232 includes outlier removal and integrity verification. Specific operations can be found in existing technologies and will not be elaborated upon here.

[0040] S1233: Ionospheric / tropospheric correction for multi-constellation observation data.

[0041] In some specific examples, step S1233 is implemented by using the Klobuchar model for wet / dry delay correction. For details, please refer to existing technologies; further elaboration is not provided here.

[0042] S1234: Perform fixed bias compensation on multi-constellation observation data.

[0043] In some specific examples, fixed bias compensation for multi-constellation observation data includes, but is not limited to, table lookup correction for system time bias.

[0044] S1235: Perform Kalman filtering to achieve data prediction and updating.

[0045] In some specific examples, step S1235 includes establishing the state vector of the Kalman filter. ,in, For state vectors, For the time deviation between systems, The frequency drift rate is given by the observation equation, which is the pseudorange time difference measurement between each constellation and the unified reference time. The system-to-system deviation adaptive tracking is achieved through prediction-update iteration.

[0046] S1236: A unified time conversion algorithm based on Kalman filtering for real-time estimation of inter-system deviation is used to obtain a unified reference time.

[0047] In some specific examples, step S1236 includes: establishing a unified time reference. For any input constellation time, the formula for converting the real-time estimation time of inter-system deviation based on Kalman filtering into a unified reference time is:

[0048] in, To standardize the base time, For the time of each zodiac sign, The fixed time deviation between systems (such as approximately 19 seconds between GPST and BDT) is obtained from the navigation message time parameters. The system time-relative frequency drift coefficient is estimated in real time using Kalman filtering; This serves as the reference time for estimating system time deviation. This is a relativistic effect correction term; This is a hardware latency correction item. This is the current time.

[0049] In some specific examples, a unified time-of-time estimation algorithm for inter-system deviation based on Kalman filtering is used for time conversion. Based on Kalman filtering, time-varying deviation adaptive tracking is achieved through prediction-update iteration, with estimation accuracy better than 5 nanoseconds, achieving nanosecond-level accuracy, which is two orders of magnitude higher than the traditional fixed lookup table method.

[0050] S1237: Output a unified reference time.

[0051] In some specific embodiments, message format conversion is performed based on a message reconstructing engine to achieve message format standardization. This includes the message reconstructing engine using a protocol conversion mechanism based on an intermediate presentation layer to define a unified data structure, and each constellation message being converted into the unified data structure format through a dedicated mapping function. The unified data structure includes common fields such as satellite number, ephemeris, orbital parameters, clock bias parameters, and health identifier.

[0052] In some specific examples, the message conversion adopts an intermediate presentation layer scheme, defining a unified IR data structure (such as common fields such as satellite number, ephemeris, orbital parameters, clock bias parameters, and health indicators), and each constellation message is converted into IR format through a dedicated mapping function.

[0053] In some specific embodiments, coordinate frame transformation is performed based on a coordinate transformation engine to achieve automatic adaptation of the coordinate system. This includes the coordinate transformation engine using a seven-parameter Bursa model for coordinate frame transformation. The transformation parameters include three translation parameters, three rotation parameters, and one scale parameter. The transformation parameters are preset in a multi-layered software middleware architecture and support online updates.

[0054] In this embodiment, protocol conversion is performed through a time conversion engine, a message reconstruction engine, and a coordinate conversion engine. Protocol conversion encompasses three levels: time conversion, message conversion, and coordinate conversion. Message conversion employs an intermediate presentation layer scheme, defining a unified IR data structure. Messages from each constellation are converted to IR format using a dedicated mapping function. Coordinate conversion uses a seven-parameter Bursa-Robbins model for coordinate framework transformation, with conversion parameters pre-set in a multi-layered software middleware architecture and supporting online updates. Time conversion is implemented using the aforementioned unified time algorithm. These three levels work collaboratively to ensure the complete conversion chain executes without distortion.

[0055] In some specific embodiments, the optimal time source selection is achieved based on an intelligent selection engine. This includes the intelligent selection engine employing a multi-factor weighted scoring optimal time source intelligent selection algorithm, dynamically and intelligently selecting weight values, calculating the comprehensive score of each zodiac sign, and dynamically selecting the zodiac sign with the highest comprehensive score as the optimal time source. SA collects status parameters for each constellation.

[0056] In some specific embodiments, constellation status parameters include the number of visible satellites, signal-to-noise ratio, and DOP value, but are not limited to these.

[0057] SB, calculate the sub-scores in sequence.

[0058] In some specific embodiments, five sub-scores are calculated, including: S1 signal strength, S2 signal accuracy DOP, S3 signal availability, S4 signal geometric distribution, and S5 signal historical continuity. Specific calculation operations can be found in existing technologies and will not be elaborated upon here.

[0059] The overall score for each constellation is obtained by weighting and summing the weights based on dynamically intelligent selection.

[0060] In some specific embodiments, the intelligent selection engine employs a multi-factor weighted scoring optimal time-source intelligent selection algorithm, based on dynamic intelligent selection weight values. Specifically, the intelligent selection engine uses a multi-factor weighted scoring optimal time-source intelligent selection algorithm to calculate the comprehensive score of each available constellation. The formula is as follows:

[0061] in, The overall score for the i-th available constellation. This is the normalized value of the number of visible satellites. Let be the standard deviation of the timing error of the i-th available constellation. The maximum standard deviation of the timing error for the i-th available constellation. Score the geometric accuracy factor for the i-th available constellation DOP. Score the health status of the i-th available zodiac sign. For the i-th available constellation continuity score, The weights are dynamically adjustable and sum to 1, where i is the number of constellations, i = 1, 2, 3, 4.

[0062] In some specific implementations, the weight values ​​for dynamic intelligent selection can be dynamically adjusted according to the application scenario. For example, in high-precision time synchronization scenarios, the weight values ​​are increased; in signal obstruction scenarios, the weight values ​​are also increased. For instance, when dynamically adjusting the weight coefficients w1 to w5 according to the application scenario, w2 is increased to 0.4-0.6 in high-precision time synchronization scenarios, and w1 is increased to 0.3-0.5 in signal obstruction scenarios.

[0063] SD selects the optimal time source by ranking the comprehensive scores of each constellation.

[0064] In some specific examples, the overall score for each zodiac sign is given. The constellations are sorted, and the constellation with the highest overall score is selected as the optimal time source. Specifically, the constellation corresponding to the highest overall score is chosen as the optimal time source. When the i-th constellation is the optimal time source constellation, the overall score of the constellation for the optimal time source can be represented as... , where i is the number of constellations, i=1,2,3,4.

[0065] SE calculates the difference between the comprehensive score of the optimal time source constellation and the average comprehensive score of the constellation as an available time source. Based on whether the difference exceeds a threshold, it determines whether to trigger the switching mode of first locking the alternative time source and then disconnecting the current time source, so as to ensure that the output of the optimal time source is continuous without jumps.

[0066] The average comprehensive score of the optimal time source constellation as an available time source is obtained by statistically analyzing its comprehensive score over a certain period of time when the optimal time source is used as an available time source, and taking the average of the statistically obtained comprehensive scores. For specific details of the above operations, please refer to existing technologies, which will not be elaborated here.

[0067] In some specific examples, the optimal time source constellation comprehensive score is obtained based on the SD steps. ,calculate The difference between the average score and the overall score of that zodiac sign as a available time source can be calculated using the following formula:

[0068] In the formula, Let be the difference between the overall score of the optimal time source constellation when the i-th constellation is the optimal time source constellation and the average overall score of that constellation as a usable time source. The average comprehensive score of the available time sources is the optimal time source constellation when the i-th constellation is the optimal time source constellation. The comprehensive score of the optimal time source constellation when the i-th constellation is the optimal time source constellation, where i is the number of constellations, i=1, 2, 3, 4.

[0069] In some specific examples, whether the difference exceeds a threshold determines whether to trigger a switching method that first locks the alternative time source and then disconnects the current time source, to ensure that the output of the optimal time source remains continuous without jumps, including setting a threshold. .

[0070] In some specific examples, the threshold is determined based on the following formula:

[0071] in, Let be the threshold value for the i-th constellation. Let be the standard deviation of the overall score for the i-th constellation as a available time source. is the confidence coefficient, and i is the number of constellations, i=1,2,3,4.

[0072] Furthermore, according to Does it exceed the threshold? Determine whether the switching method of first locking the alternative time source and then disconnecting the current time source is triggered, so as to ensure that the output of the optimal time source is continuous without jumps.

[0073] like If the threshold is exceeded, a switching mechanism is triggered that first locks the alternative time source and then disconnects the current time source. Conversely, output the optimal time source report directly.

[0074] In some specific examples, the optimal time source report includes, but is not limited to, the constellation name, the overall constellation score, the switching status, and the time deviation.

[0075] In this embodiment, the constellation with the highest comprehensive score is selected as the main time source, and a strategy is adopted to switch seamlessly, that is, the alternative source is locked first and the current source is disconnected to ensure that the time output is continuous without jumps.

[0076] In some specific examples, by selecting the optimal time source through a multi-factor weighted scoring optimal time source intelligent selection algorithm, the continuity of time synchronization can be improved by about 40% and the overall accuracy can be improved by about 35% in occluded environments.

[0077] S124: Provides standardized time synchronization services based on a unified interface layer, and provides standardized timestamp service interfaces and system status monitoring interfaces to the outside world based on the conversion processing results of the core conversion layer.

[0078] In some specific embodiments, the unified interface layer provides standardized timestamp service interfaces and system status monitoring interfaces to the outside world, so that the application layer does not need to pay attention to the underlying constellation differences.

[0079] In some embodiments of this application, the multi-layered software middleware architecture further includes a two-level time traceability verification module, which includes a real-time comparison verification unit and a post-event traceability verification unit. The real-time comparison and verification unit compares the unified reference time with the external reference source in real time, and triggers automatic calibration when the deviation exceeds the threshold. The post-event traceability verification unit periodically generates a time traceability chain file containing time deviation curves for each constellation, estimated inter-system deviations, Kalman filter residuals, and comparison records for use in time-frequency traceability.

[0080] In some specific examples, the multi-layered software middleware architecture includes two levels of traceability verification. The first level is real-time comparison verification: a unified reference time is compared with an external reference source in real time, the deviation is calculated, and automatic calibration is triggered when the deviation exceeds a threshold (e.g., 20 nanoseconds, but not limited to this). The second level is post-event traceability verification: time traceability reports are generated periodically, recording the time deviation curves of each constellation, the estimated values ​​of the inter-system deviations, the Kalman filter residuals, and the comparison records, forming a complete traceability chain file to meet the requirements of international metrological mutual recognition agreements for time and frequency traceability.

[0081] In some specific examples, the external reference source can be a UTC reference source, and the corresponding generated time tracing chain file is a time tracing chain file that includes UTC comparison records, but is not limited to this.

[0082] In some embodiments, the multi-layered software middleware architecture includes a plug-in architecture-based compatible extension interface, which includes: a constellation description file interface, a plug-in registration interface, and a runtime dynamic loading interface. The runtime dynamic loading interface enables newly added navigation constellation plugins to be loaded as dynamic link libraries at runtime, without the need to recompile the multi-layered software middleware architecture.

[0083] In some specific embodiments, the XML format constellation description file interface uses XML format to define the basic information, signal parameters, and ephemeris parameters of newly added constellations.

[0084] In some embodiments of this application, the compatibility extension interface adopts a plug-in architecture design, including a constellation description file interface, a plug-in registration interface, and a dynamic loading interface. The constellation description file uses XML format to define the basic information, signal parameters, and ephemeris parameters of the new constellation. The plug-in is loaded at runtime as a dynamic link library, without the need to recompile the entire middleware. This facilitates the independent development of new constellation plug-ins based on the interface specification, building a scalable interoperability ecosystem. This application embodiment, by constructing a multi-layered software middleware architecture, decouples the Global Navigation Satellite System (GNSS) application layer from the hardware, achieving seamless cross-constellation interoperability and reducing development complexity and upgrade / maintenance costs. This application embodiment converts the parsed data obtained by the protocol parsing layer based on the core conversion layer, realizing the unification of time systems for each constellation, standardization of message formats, automatic adaptation of coordinate systems, and intelligent selection of the optimal time source. The core conversion layer includes a time conversion engine, a message reconstruction engine, a coordinate conversion engine, and an intelligent selection engine. The time conversion engine unifies the time systems for each constellation, the message reconstruction engine performs message format conversion to achieve message format standardization, the coordinate conversion engine performs coordinate frame conversion to achieve automatic adaptation of coordinate systems, and the intelligent selection engine achieves optimal time source selection. Furthermore, protocol conversion is achieved through a time conversion engine, a coordinate conversion engine, and a message reassembly engine. Protocol conversion encompasses three levels: time conversion, coordinate conversion, and message conversion. Time conversion is implemented using a unified time estimation algorithm based on Kalman filtering for real-time inter-system bias estimation. Coordinate conversion employs a seven-parameter Bursa-Robbins model for coordinate frame transformation, with conversion parameters including three translation parameters, three rotation parameters, and one scale parameter. These parameters are pre-set in a multi-layered software middleware architecture and support online updates. Message conversion uses a protocol conversion mechanism based on an intermediate presentation layer to define a unified data structure. Messages from each constellation are converted to this unified data structure format through a dedicated mapping function. This unified data structure includes common fields such as satellite number, ephemeris, orbital parameters, clock bias parameters, and health identifiers. These three levels work collaboratively to ensure the complete conversion chain executes without distortion, overcoming protocol incompatibility issues. The time conversion engine uses a Kalman filter-based real-time inter-system deviation estimation time unification algorithm to achieve real-time unification of time bases for each constellation, achieving nanosecond-level accuracy, which is two orders of magnitude higher than the traditional fixed lookup table method. The intelligent selection engine employs a multi-factor weighted scoring optimal time source intelligent selection algorithm. It dynamically and intelligently selects weight values, calculates the comprehensive score of each constellation, and dynamically selects the constellation with the highest comprehensive score as the optimal time source. By selecting the optimal time source through the multi-factor weighted scoring optimal time source intelligent selection algorithm, it can improve the continuity of time synchronization by about 40% and the overall accuracy by about 35% in occluded environments. The embodiments of this application employ a plug-in architecture-based compatible extension interface, which reduces the workload of developing new constellations by approximately 70%.

[0085] The following text will be combined with the appendix Figure 2 Describes a multi-constellation system protocol conversion system 200.

[0086] like Figure 2 As shown, a multi-constellation system protocol conversion system 200 according to an embodiment of this application is illustrated, including: a multi-layer software middleware architecture 210, the multi-layer software middleware architecture 210 including a driver abstraction layer 211, a protocol parsing layer 212, a core conversion layer 213, and a unified interface layer 214.

[0087] In some specific embodiments, the multi-layered software middleware architecture 210 is configured to perform protocol conversion. This multi-layered software middleware architecture is independent of the underlying hardware, decoupling the application layer of the global navigation satellite system from the hardware.

[0088] In some specific embodiments, the driver abstraction layer 211 is configured to connect to receiver hardware to acquire raw observation data and navigation messages for each constellation.

[0089] In some specific embodiments, the protocol parsing layer 212 is configured to parse the original observation data and navigation messages of each constellation obtained by the driving abstraction layer to obtain parsed data; the protocol parsing layer includes independent navigation message parsers that work in parallel and correspond one-to-one with each constellation. Each navigation message parser parses the original observation data and navigation messages of each constellation obtained by the driving abstraction layer in parallel and independently, and performs frame synchronization, subframe parsing, parity checking and parameter extraction to obtain parsed data.

[0090] In some specific embodiments, the core conversion layer 213 is configured to convert and process the parsed data obtained by the protocol parsing layer to achieve unification of time systems for each constellation, standardization of message formats, automatic adaptation of coordinate systems, and intelligent selection of the optimal time source. The core conversion layer includes a time conversion engine, a message reconstruction engine, a coordinate conversion engine, and an intelligent selection engine. The time conversion engine is used to unify the time systems for each constellation, the message reconstruction engine is used to convert message formats to achieve standardization of message formats, the coordinate conversion engine is used to convert coordinate frames to achieve automatic adaptation of coordinate systems, and the intelligent selection engine is used to select the optimal time source.

[0091] In some specific embodiments, the unified interface layer 214 is configured to provide standardized time synchronization services, and provides standardized timestamp service interfaces and system status monitoring interfaces to the outside world based on the conversion processing results of the core conversion layer.

[0092] In the embodiments of this application, the system embodiments may refer to the method embodiments, and the features of the system embodiments may be incorporated into the method embodiments in a non-contradictory manner, and vice versa.

[0093] Although not shown, in this application embodiment, an electronic device is provided, including: a processor and a memory storing a computer program, the processor being configured to implement the method described in any of the embodiments of this application when running the computer program.

[0094] In some embodiments, it can be implemented using a single or multiple electronic devices. In some embodiments, it can be implemented using cloud-based or distributed electronic devices.

[0095] In some embodiments, the electronic device includes a processor that can perform various appropriate operations and processes based on programs and / or data stored in read-only memory (ROM) or loaded from a storage portion into random access memory (RAM). The CPU can be a multi-core processor or may contain multiple processors. In some embodiments, the processor may include a general-purpose main processor and one or more specialized coprocessors, such as a graphics processing unit (GPU), a neural network processor (NPU), a digital signal processor (DSP), etc. Various programs and data required for the operation of the electronic device are also stored in RAM. The CPU, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0096] The processor and memory described above are used together to execute a program stored in the memory. When the program is executed by a computer, it can implement the steps or functions of the methods described in the above embodiments.

[0097] The following components are connected to the I / O interface: input sections including keyboards, mice, touchscreens, etc.; output sections including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage sections including hard drives; and communication sections including network interface cards such as LAN cards and modems. The communication sections perform communication processing via networks such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage section as required.

[0098] In some embodiments, the electronic device refers to a mobile terminal or computer, including mobile phones, vehicle terminals, smart TVs, etc. Taking a mobile phone as an example, the electronic device also includes a touch screen, external speaker, gyroscope, camera, 4G / 5G antenna, and other device modules.

[0099] The systems or modules described in the above embodiments can be implemented by a computer or its associated components. The computer may be, for example, a mobile terminal, smartphone, personal computer, laptop computer, in-vehicle human-machine interface device, personal digital assistant, media player, navigation device, game console, tablet computer, wearable device, smart TV, Internet of Things system, smart home, industrial computer, server, or a combination thereof.

[0100] Although not shown, in embodiments of this application, a program product is provided, including a computer program that, when executed by a processor, implements the method of any embodiment of this application.

[0101] Although not shown, in embodiments of this application, a storage medium is provided that stores a computer program configured to be executed to implement the methods of any of the embodiments of this application.

[0102] The storage media in embodiments of this application include articles that can store information using any method or technology, whether permanent or non-permanent, removable or non-removable. Examples of storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information that can be accessed by a computing device.

[0103] The methods, programs, systems, apparatuses, etc., of the embodiments of this application can be executed or implemented in one or more networked computers, or practiced in a distributed computing environment. In the embodiments of this specification, in these distributed computing environments, tasks can be performed by remote processing devices connected via a communication network.

[0104] Those skilled in the art will understand that the embodiments described in this specification can be provided as methods, systems, or computer program products. Therefore, those skilled in the art will realize that the functional modules / units or controllers and related method steps described in the above embodiments can be implemented in software, hardware, or a combination of both.

[0105] Unless explicitly stated otherwise, the actions or steps of the methods and procedures described in the embodiments of this application do not necessarily have to be performed in a specific order and can still achieve the desired results. In some implementations, multitasking and parallel processing are also possible or may be advantageous.

[0106] This document describes several embodiments of the present application; however, for the sake of brevity, the descriptions of the embodiments are not exhaustive, and identical or similar features or parts between the embodiments may be omitted. In this document, "one embodiment," "some embodiments," "example," "specific example," or "some examples" refers to at least one embodiment or example applicable to the present application, but not all embodiments. The above terms do not necessarily refer to the same embodiment or example. Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples.

[0107] The exemplary systems and methods of this application have been specifically shown and described with reference to the above embodiments, which are merely examples of the best mode for implementing the systems and methods. Those skilled in the art will understand that various changes can be made to the embodiments of the systems and methods described herein without departing from the spirit and scope of this application as defined in the appended claims when implementing the systems and / or methods.

Claims

1. A method for protocol conversion in a multi-constellation system, characterized in that, include: Construct a multi-layered software middleware architecture independent of the underlying hardware. The multi-layered software middleware architecture includes a driver abstraction layer, a protocol parsing layer, a core conversion layer, and a unified interface layer. Protocol conversion based on the aforementioned multi-layered software middleware architecture includes: Based on the driver abstraction layer, the receiver hardware is connected, and the raw observation data and navigation messages of each constellation are obtained through a standardized hardware abstraction interface. The protocol parsing layer parses the original observation data and navigation messages of each constellation obtained by the driving abstraction layer to obtain parsed data. The protocol parsing layer includes independent navigation message parsers that work in parallel and correspond one-to-one with each constellation. Each navigation message parser parses the original observation data and navigation messages of each constellation obtained by the driving abstraction layer in parallel and independently, and performs frame synchronization, subframe parsing, parity checking and parameter extraction to obtain parsed data. The core conversion layer processes the parsed data obtained from the protocol parsing layer to achieve unified time systems for each constellation, standardized message formats, automatic coordinate system adaptation, and intelligent selection of the optimal time source. The core conversion layer includes a time conversion engine, a message reconstruction engine, a coordinate conversion engine, and an intelligent selection engine. The time conversion engine unifies the time systems for each constellation, the message reconstruction engine performs message format conversion to achieve standardized message formats, the coordinate conversion engine performs coordinate frame conversion to achieve automatic coordinate system adaptation, and the intelligent selection engine selects the optimal time source. Standardized time synchronization services are provided based on a unified interface layer, and standardized timestamp service interfaces and system status monitoring interfaces are provided to the outside world based on the conversion processing results of the core conversion layer.

2. The method according to claim 1, characterized in that: The time conversion engine is used to unify the time systems of various constellations, including: The time conversion engine uses a Kalman filter-based real-time inter-system deviation estimation and time unification algorithm to achieve real-time unification of time bases for each constellation.

3. The method according to claim 1, characterized in that: The optimal time source selection is achieved based on the aforementioned intelligent selection engine, including: The intelligent selection engine employs a multi-factor weighted scoring optimal time source intelligent selection algorithm. It dynamically and intelligently selects weight values, calculates the comprehensive score for each zodiac sign, and dynamically selects the zodiac sign with the highest comprehensive score as the optimal time source, including: Collect the status parameters of each constellation, calculate each sub-score in turn, and obtain the comprehensive score of each constellation by weighted summation based on the dynamically intelligently selected weight values. Sort the comprehensive scores of each constellation to select the optimal time source, calculate the difference between the comprehensive score of the constellation with the optimal time source and the average comprehensive score of the constellation as an available time source, and determine whether to trigger the switching mode of first locking the alternative time source and then disconnecting the current time source based on whether the difference exceeds the threshold, so as to ensure that the output of the optimal time source is continuous and without jumps.

4. The method according to claim 1, characterized in that: The message reconstruction engine performs message format conversion to achieve message format standardization. This includes the message reconstruction engine using a protocol conversion mechanism based on an intermediate presentation layer to define a unified data structure. Each constellation message is converted into the unified data structure format through a dedicated mapping function. The unified data structure includes common fields such as satellite number, ephemeris, orbital parameters, clock error parameters, and health identifier. The coordinate transformation engine is used to perform coordinate frame transformation to achieve automatic coordinate system adaptation. The coordinate transformation engine uses a seven-parameter Bursa model for coordinate frame transformation, and the transformation parameters include three translation parameters, three rotation parameters and one scale parameter.

5. The method according to claim 1, characterized in that, The multi-layered software middleware architecture also includes a two-level time traceability verification module, which includes a real-time comparison verification unit and a post-event traceability verification unit. The real-time comparison and verification unit compares the unified reference time with the external reference source in real time, and triggers automatic calibration when the deviation exceeds the threshold. The post-event traceability verification unit periodically generates a time traceability chain file containing time deviation curves for each constellation, estimated inter-system deviations, Kalman filter residuals, and comparison records for use in time-frequency traceability.

6. The method according to claim 1, characterized in that, The multi-layered software middleware architecture includes a plug-in architecture-based compatible extension interface, which includes: a constellation description file interface, a plug-in registration interface, and a runtime dynamic loading interface. The runtime dynamic loading interface enables newly added navigation constellation plugins to be loaded as dynamic link libraries at runtime, without the need to recompile the multi-layered software middleware architecture.

7. A multi-constellation system protocol conversion system, characterized in that, include: A multi-layered software middleware architecture, independent of the underlying hardware, is configured to perform protocol conversion; the multi-layered software middleware architecture includes a driver abstraction layer, a protocol parsing layer, a core conversion layer, and a unified interface layer, wherein: The driving abstraction layer is configured to connect to the receiver hardware and obtain the raw observation data and navigation messages of each constellation through a standardized hardware abstraction interface. The protocol parsing layer is configured to parse the raw observation data and navigation messages of each constellation obtained by the driving abstraction layer to obtain parsed data. The protocol parsing layer includes independent navigation message parsers that work in parallel and correspond one-to-one with each constellation. Each navigation message parser parses the raw observation data and navigation messages of each constellation obtained by the driving abstraction layer in parallel and independently, and performs frame synchronization, subframe parsing, parity checking and parameter extraction to obtain parsed data. The core conversion layer is configured to convert and process the parsed data obtained by the protocol parsing layer, thereby achieving the unification of time systems for each constellation, standardization of message formats, automatic adaptation of coordinate systems, and intelligent selection of the optimal time source. The core conversion layer includes a time conversion engine, a message reconstruction engine, a coordinate conversion engine, and an intelligent selection engine. The time conversion engine unifies the time systems for each constellation, the message reconstruction engine performs message format conversion to achieve message format standardization, the coordinate conversion engine performs coordinate frame conversion to achieve automatic adaptation of coordinate systems, and the intelligent selection engine selects the optimal time source. The unified interface layer is configured to provide standardized time synchronization services, and provides standardized timestamp service interfaces and system status monitoring interfaces to the outside world based on the conversion processing results of the core conversion layer.

8. An electronic device, characterized in that, include: A processor and a memory storing a computer program, the processor being configured to implement the method of any one of claims 1-6 when the computer program is executed.

9. A storage medium, characterized in that, The storage medium stores a computer program configured to be executed to implement the method of any one of claims 1-6.

10. A program product, characterized in that, Includes a computer program, wherein the computer program, when executed by a processor, implements the method of any one of claims 1-6.

Images