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CN106603149B - High rate laser communication means and high-precision laser range-finding integral method - Google Patents

High rate laser communication means and high-precision laser range-finding integral method Download PDF

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CN106603149B
CN106603149B CN201610533293.9A CN201610533293A CN106603149B CN 106603149 B CN106603149 B CN 106603149B CN 201610533293 A CN201610533293 A CN 201610533293A CN 106603149 B CN106603149 B CN 106603149B
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station
ranging
communication
ranging code
signal
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CN106603149A (en
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孙建锋
许蒙蒙
周煜
蔡光宇
张波
张国
李光远
张宁
贾昱成
刘立人
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Shanghai Institute of Optics and Fine Mechanics of CAS
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Shanghai Institute of Optics and Fine Mechanics of CAS
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/112—Line-of-sight transmission over an extended range
    • H04B10/1123—Bidirectional transmission
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

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  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Communication System (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A kind of integral method of high rate laser communication and precision distance measurement, ranging technology is incorporated in laser communication system, it will be in the ranging code of uniqueness, good auto-correlation and cross correlation property insertion communication data, ranging code and communication data serial transmission, realize the communication of high-speed after encoded；The progress related operation of the ranging code received and local ranging code is obtained to the bigness scale time value of the symbol width of integral multiple in receiving end, simultaneously by the accurate measurement time value in one symbol of phase difference calculating ranging code of local clock and reception recovered clock, the integration of high rate laser communication and precision distance measurement is realized.The present invention uses two-way one-way communication, and the time-frequency transmission of clock is completed while ranging；The present invention does not need the A/D conversion of high speed, so that it may realize high rate laser communication and precision distance measurement.

Description

High rate laser communication means and high-precision laser range-finding integral method
Technical field
The present invention relates to the laser communication of free space and ranging field, especially a kind of high rate laser communication and high-precision Spend the integrated method of laser ranging.
Background technique
Laser communication has many advantages, such as capacity big, strong interference immunity, good confidentiality, low in energy consumption, small in size, is able to solve micro- The high-speed bottleneck of wave communication, being recognized is between star, between interorbital, synchronous satellite and deep space probe and between star ground Magnanimity, the effective means of Ultrahigh speed data transmission.Aircraft can be made in identical load using laser communication ranging integrated technique Multiple-task is completed under lotus, to reduce the requirement to volume, power consumption, and improves the cost performance of system.
(Chengdu space communication facility Co., Ltd is surveyed the prior art [1] based on the coherent pseudo-code of MSK band spectrum modulation mode Away from method: China, CN103533651 [A] .2014.1.22.) prior art [2] is (in Wang Qi, Wu Bin light spaceflight TT&C system Pseudo Code Ranging Precision analyzes [J] radio engineering, 2009,39 (1): distance measuring method in 39~44.) is by pseudo noise code (ranging Code) carrier wave as the communication information, the method for signal bandwidth raising chip rate is increased by spread spectrum communication to improve survey Away from precision, i.e., precision distance measurement just may be implemented in the rate that the rate of ranging code will be far longer than signal of communication, but in this way It will lead to that traffic rate is too low, be not able to satisfy the requirement of satellite communication, and tens of thousands of kilometers are being measured using continuous ranging code Satellite distance when, the ranging code for needing to grow very much, this will increase the time of Code acquisition.In addition to this, traditional pseudo-random code ranging needs The A/D chip of high sampling rate is wanted data cached, this will increase hardware cost and is not easy to realize in satellite station.
Summary of the invention
The purpose of the present invention is to provide a kind of high rate laser communication and high-precision laser range-finding integral method, in conjunction with Big, the low in energy consumption characteristic of laser communication capacity and pseudo-code have good auto-correlation and cross-correlation and low intercepting and capturing characteristic etc. excellent Point, the disadvantages of can not achieve high rate communication for traditional pseudo-random code ranging and require the sample rate of processing chip excessively high, proposing will Ranging code is embedded into communication data, makes ranging code and communication data serial transmission, to realize the communication of high-speed；It is receiving End compares the accurate measurement amount that may be implemented in a ranging symbol using the phase of recovered clock signal and local clock pulses.And Receiving end only needs demodulation, clock recovery, sampling judgement, decoding, and not needing high-speed a/d conversion may be implemented precision distance measurement. High rate laser communication and high-precision laser range-finding can be achieved at the same time in the present invention, that is, realizes high rate laser communication and high-precision The integration of laser ranging.
The technology of the present invention solution is as follows:
A kind of communication of high rate laser and the integrated method of precision distance measurement, including multiple ranging communication stations, feature It is: including the following steps:
Step 1: by high rate laser to be performed communication and the integrated method Liang Ge ranging communication station of precision distance measurement, Hereinafter referred to as the transmitting terminal at two station A, B and receiving end are aligned, and will have uniqueness, good auto-correlation at two station A, B It is cached to local with the ranging code and its clock signal of cross correlation, respectively as local ranging code and local clock pulses, Then the ranging code is embedded into communication data, forms communication distance measuring frame after encoded, ranging code is as communication distance measuring frame Frame head, communication distance measuring frame include frame head, communication data, postamble；
Step 2: A, two station B uses the communication mode of two-way one way, load of the communication distance measuring frame at the station A as laser light source Wave is modulated through optical phase modulator, and similarly, the station B is identical as the work that A stands, and two stations are about scheduled on t0Moment mutually emits, due to two The difference of ground clock, the launch time at the station A are tA0, the emission time at the station B is tB0；
Step 3: the station A receives the signal of the station B transmitting, and the station B receives the signal of the station A transmitting, after two station A, B is received Signal demodulated, clock recovery, sampling judgement, decoding obtain ranging code and communication data.
Step 4: the local clock signal cached in the clock signal and step 1 that A stands recovery carries out phase ratio It is right, obtain the phase difference of two clock signals within a clock cycleAnd then a ranging code symbol for acquiring the station A is wide Accurate measurement time value in degreeWherein, T is the period of clock signal, it is equal to the symbol width of ranging code, together The accurate measurement time value Δ T in a ranging code symbol width at the station B can be obtained in reasonB, after A stands decoding obtained ranging code with The local ranging code cached in step 1 carries out related operation, and obtaining integral multiple symbol width is bigness scale time value (nT)A, In, T is the symbol width of ranging code, and n is integer, and the bigness scale time value (nT) at the station B similarly can be obtainedB；
Step 5: the distance of A, B: T are calculatedAIndicate that A stands from the time for transmitting a signal to the signal for receiving the station B, TBIt indicates The station B receives the time of the signal at the station A, T from transmitting a signal toA=(nT)A+ΔTA, TB=(nT)B+ΔTB, the biography at two station A, B Defeated delayThe clock difference Δ t of distance s and two places between A, B is calculated according to the following formulaclk:
Wherein, c is the light velocity.
Technical effect and feature of the invention:
1, the present invention is using ranging code as the frame head of communication data, ranging code and communication data serial transmission, communication data Chip rate it is equal with the chip rate of ranging code, and the distance measuring method of traditional spread spectrum communication require ranging code symbol speed The chip rate that rate is far longer than communication data is just able to achieve precision distance measurement, so the present invention can be realized the logical of high-speed Letter；
2, the clock difference of two places can also be acquired while ranging using the communication mode of two-way one wayTo complete the time-frequency transmission of clock.
3, a ranging code symbol may be implemented by recovered clock signal and comparing for local clock pulses in the present invention Interior accurate measurement；So high-precision ranging may be implemented in the present invention.
4, compared with traditional pseudo-random code ranging technology, the present invention only needs demodulation, clock recovery, sampling to sentence after receiving signal Certainly, it decodes, not needing high-speed a/d conversion may be implemented precision distance measurement.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Fig. 2 is the structure chart of the embodiment of the present invention.
Fig. 3 is the composition schematic diagram of communication distance measuring frame.
Fig. 4 is two-way one-way communication schematic diagram.
Fig. 5 is the schematic diagram of the ranging at the station A in the present invention
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and examples, but guarantor of the invention should not be limited with this Protect range.
Fig. 1 is flow chart of the invention, and as seen from the figure, high rate laser communication of the present invention and precision distance measurement are integrated Method, including five steps:
Step 1: by high rate laser to be performed communication and the integrated method Liang Ge ranging communication station of precision distance measurement, Hereinafter referred to as the transmitting terminal at two station A, B and receiving end are aligned, and will have uniqueness, good auto-correlation at two station A, B It is cached to local with the ranging code and its clock signal of cross correlation, respectively as local ranging code and local clock pulses, Then the ranging code is embedded into communication data, forms communication distance measuring frame after encoded, ranging code is as communication distance measuring frame Frame head, communication distance measuring frame include frame head, communication data, postamble, as shown in Figure 3；
Step 2: A, two station B using two-way one way communication mode as shown in figure 4, A station communication distance measuring frame as laser The carrier wave of light source is modulated through optical phase modulator, and similarly, the station B is identical as the work that A stands, and two stations are about scheduled on t0Moment is mutually sent out It penetrates, due to the difference of two places clock, the launch time at the station A is tA0, the emission time at the station B is tB0；
Step 3: the station A receives the signal of the station B transmitting, and the station B receives the signal of the station A transmitting, after two station A, B is received Signal demodulated, clock recovery, sampling judgement, decoding obtain ranging code and communication data.
Step 4: the local clock signal cached in the clock signal and step 1 that A stands recovery carries out phase ratio It is right, obtain the phase difference of two clock signals within a clock cycleAnd then a ranging code symbol for acquiring the station A is wide Accurate measurement time value in degreeWherein, T is the period of clock signal, it is equal to the symbol width of ranging code, together The accurate measurement time value Δ T in a ranging code symbol width at the station B can be obtained in reasonB, after A stands decoding obtained ranging code with The local ranging code cached in step 1 carries out related operation, and obtaining integral multiple symbol width is bigness scale time value (nT)A, such as Shown in Fig. 5, wherein T is the symbol width of ranging code, and n is integer, and the bigness scale time value (nT) at the station B similarly can be obtainedB；
Step 5: TAIndicate that A stands from the time for transmitting a signal to the signal for receiving the station B, TBIndicate the station B from transmission signal To the time for the signal for receiving the station A, TA=(nT)A+ΔTA, TB=(nT)B+ΔTB, the transmission delay at two station A, BAccording toWherein, c is the light velocity, can find out distance s between A, B.
Fig. 2 is the structure chart of one embodiment of the present of invention, and as seen from the figure, satellite station includes the first single-frequency single-mode laser 1, the first fiber optic splitter 2, the first pn code generator 3, the first signal generator 4, the first encoder 5, the first light phase modulation Device 6, the first optical fiber circulator 7, the first optical fiber collimator 8, the first 2*2 directional coupler 9, the first photoelectricity balanced detector 10, First clock recovery circuitry 11, the first code conversion circuit 12, first sampling decision device 13, the first decoder 14, first phase Comparator 15, the first analog correlator 16；
Earth station includes the second single-frequency single-mode laser 17, the second fiber optic splitter 18, the second pn code generator 19, second Signal generator 20, second encoder 21, the second optical phase modulator 22, the second optical fiber circulator 23, the second optical fiber collimator 24, the 2nd 2*2 directional coupler 25, the second photoelectricity balanced detector 26, second clock restoring circuit 27, the second code conversion electricity The sampling of road 28, second decision device 29, the second decoder 30, second phase comparator 31, the second analog correlator 32；In satellite It stands, the laser of the first single-frequency single-mode laser 1 transmitting is divided into the strong equal light of two-beam by the first fiber optic splitter 2, and first Carrier wave of the communication distance measuring frame that encoder 6 generates as wherein light beam, by the first optical phase modulator 7, into the first light Transmitting terminal, that is, port 1 of fine circulator 8, then ground is emitted into the first optical fiber collimator 9 by the port 2 of first annular device It stands, local oscillator light of the another light beam as satellite station completes the emission process of satellite station, and the transmitting of earth station is identical as satellite station, By time τ, the signal of earth station's transmitting is received by the first optical fiber collimator 9, it by the port 2 of the first optical fiber circulator into Enter to the receiving end of the first optical fiber circulator i.e. port 3 as signal is received, it is fixed by first to receive signal and local oscillator optical signal It is received to annular coupler by the first photoelectricity balanced detector detection, then passes sequentially through the first clock recovery circuitry 12, again One code conversion circuit 13, first sampling decision device 14, the first decoder 15；By the clock signal of recovery and communication distance measuring frame For local clock pulses by first phase comparator, decoded ranging code is related by the first simulation to local ranging code Device, completes the reception process of satellite station, and the reception process of earth station is identical as satellite station.
Specific implementation including the following steps:
Step 1: coding: the first pn code generator 3 and the second pn code generator 19 are generated in satellite station and earth station Ranging code a (t) is respectively embedded in the communication data generated by the first signal generator 4 and second signal generator 20, through One encoder 5 and second encoder 21 are encoded into communication distance measuring frame d (t)；
It is indicated by the ranging code a (t) that the first pn code generator 3 and the second pn code generator 19 generate are as follows:
Wherein, T is the symbol width of ranging code, anFor pseudo noise code symbol, ± 1 is taken at random with equiprobability；
The communication data b (t) generated by the first signal generator 4 and second signal generator 20:
The communication distance measuring frame d (t) after the first encoder 5 and second encoder 21 is indicated respectively are as follows:
Wherein, l is the length of communication distance measuring frame；
As local clock pulses, it is indicated the clock signal of ranging code are as follows:
Wherein, T is the period of clock signal, it is equal to the symbol width of ranging code.
Step 2: satellite station and earth station are transmitted using the communication mode of two-way one way, as shown in figure 4, the communication at two stations Ranging frame is respectively as the carrier wave of the first single-frequency single-mode laser 1 and the second single-frequency single-mode laser 17 in the first light phase modulation Device 6 and lower progress binary phase shift keying modulation (referred to as BPSK) of the second optical phase modulator 22, two stations are about scheduled on t0Moment Transmitting, due to the difference of two places clock, the launch time of satellite station is tA0, the emission time of earth station is tB0；
The light field expression formula of the laser of the first single-frequency single-mode laser 1 output of satellite station are as follows:
Wherein, A1Indicate optical field amplitude, ω1Frequency of light wave is represented,Indicate the initial phase of light field.First single-frequency single mode swashs The light that light device 1 exports divides the conduct all the way for two-way intensity is equal, the identical two-beam of polarization state by the first fiber optic splitter 2 The local oscillator light of satellite station, light field expression formula are as follows:
For another way as signal light, it passes through the first fiber annular after the first optical phase modulator 6 carries out BPSK modulation Device 7 and the first optical fiber collimator 8 and in tA0Moment is sent to earth station, emits the light field expression formula of signal are as follows:
Satellite station local clock pulses at this time indicate are as follows:
The light field expression formula of laser of the second single-frequency single-mode laser 17 output of earth station is
Wherein, A2Indicate optical field amplitude, ω2Frequency of light wave is represented,Indicate the initial phase of light field.Second single-frequency single mode swashs The light that light device 17 exports divides by the second beam splitter 18 for two-way intensity is equal, the identical two-beam of polarization state, all the way as ground The local oscillator light at face stationAnother way is as signal light, it is through the second optical phase modulator 22 After carrying out BPSK modulation, by the second optical fiber circulator 23 and the second optical fiber collimator 24 and in tB0The conduct at moment emits signal It is sent to satellite station, signal expression are as follows:
Step 3: the transmitting signal of earth station passes through the propagation distance s of atmosphere0Satellite station is reached, satellite station is passed sequentially through First collimator 8, the first optical fiber circulator 7 port 2, the port 3 of the first optical fiber circulator 7, and the local oscillator with satellite station Optical signal is received by the first 2*2 directional coupler 9 by the first photodetector 10, and the signal after reception is extensive by the first clock Compound circuit 11, the first code conversion circuit 12, first sampling decision device 13, the first decoder 14 obtain ranging code and communication number According to；
Do not consider Doppler frequency shift, then the first photodetector 10 of satellite station receives the expression formula of the signal after demodulation Are as follows:
The t that signal after reception obtains after the first clock recovery circuitry 11AThe clock signal at moment are as follows:
T can be obtained by the first code conversion circuit 12AThe communication distance measuring signal at moment are as follows:
With the clock signal c of recoveryr(trA)Moment (rising edge of clock) believes gained communication distance measuring Number d (trA) sampling obtains:
Signal after judgement is the signal for passing through the first sampling decision device 13 are as follows:
Ranging code by being obtained after the first decoder 14 again are as follows:
Decoded ranging code and local ranging code (delay) obtained by the first analog correlator 16 progress related operation It arrives:
Correlator is passing through time TAAfter there is peak value, because of TA=tA-tA0=(nT)A++ΔTA, (nT)AIt is integral multiple Code-element period, n are integer, and T is the symbol width of ranging code, Δ TAIt is the time value in a symbol.Here several times are only rounded Code-element period (nT)A, it as satellite station from transmit a signal to receive signal time TABigness scale time value.
The clock signal of recovery carries out phase by first phase comparator 15 with local clock signal and compares, and obtains one Phase difference in a clock cycleAnd then the accurate measurement time value in a ranging code symbol can be acquiredIts In, T is the clock cycle, it is equal to ranging code symbol width；
The transmitting signal of satellite station passes through atmospheric propagation distance s0Earth station is reached, passes through the second optical fiber collimator according to this 24, the port 2 of the second optical fiber circulator 23, the second optical fiber circulator 23 port 3, and pass through with the local oscillator optical signal of earth station 2nd 2*2 directional coupler 25 is by the second photodetector 26 in tBReception, the signal after reception are extensive by second clock Compound circuit 27, the second pattern translation circuit 28, second sampling decision device 29, the second decoder 30 obtain ranging code and communication number According to.
It is identical as the course of work of satellite station, it can be used same method to obtain earth station in earth station and connect from transmitting a signal to The time T of the collection of letters numberBBigness scale time value (nT)BWith accurate measurement time value Δ TB。
Step 4: T is usedAIndicate that satellite station from the time of measuring transmitted a signal to when receiving ground station signals, uses TBIt indicates Earth station from the time transmitted a signal to when receiving satellite station signal, τ A, B two station transmission delay, Δ tclkIt is two stations Clock difference, then:
TA=τ+Δ tclkTB=τ-Δ tclk,
Wherein, TA=(nT)A+ΔTA, TB=(nT)B+ΔTB
So two distance between sites of A, B are
Wherein c is the light velocity.
Ask clock signal phase poor using the method for fast discrete Fourier transformation (FFT) in the present embodiment, to local Clock signal does the sampling of nT, counts and is FFT for the sample of N, when FFT method seeks phase difference, due to A/D quantization and Gauss white noise The variance of phase difference measurement error caused by sound are as follows:
Wherein, q=2-bFor quantization width, b is the digit of A/D quantization, and N is sampling number, and A is the amplitude of signal, and SNR is The signal-to-noise ratio of signal.
So the precision of measurement distance are as follows:
Assuming that the code-element period T=1us of ranging code and communication data, then may be implemented the traffic rate of 1GHZ, through lower change Frequency clock signal frequency f0=100MHZ takes sample frequency fs=500MHZ, A=1, sampling number N=2048, A/D are 11, SNR=25dB, the then precision for measuring distance can reach 2.98mm.
Assuming that ranging code length is N, communication data length and postamble length are M, and communication data continuously transmits, and does not consider When the bit error rate, since ranging code and communication data are serial transmissions, so the measurable maximum distance of ranging code:
smax=c (M+N) T
Wherein c is the light velocity, and T is the width of symbol.And traditional distance measuring method is using communication data as the load of ranging code Wave, ranging code can measure maximum distance are as follows:
smax=cNT
Assuming that the width of symbol is 1us, then traditional distance measuring method can measure using 10 m-sequences as ranging code Maximum distance is smax=3 × 108×(210-1)×10-6=30.69 × 104M, and method of the invention is used, using 5 Ranging code and 5 communication datas can measure identical distance, the digit of ranging code required for reducing.

Claims (1)

1.一种激光通信和测距一体化方法，包括多个测距通信站，其特征在于：该方法包括以下步骤：1. A method for integrating laser communication and ranging, comprising a plurality of ranging communication stations, characterized in that: the method comprises the following steps: 步骤一：将两个测距通信站，以下简称为A、B两站的发射端和接收端进行对准，在A、B两站将具有唯一性、良好的自相关和互相关特性的测距码及其时钟信号缓存到本地，分别作为本地测距码和本地时钟信号，然后将该测距码嵌入到通信数据中，经编码后组成通信测距帧，测距码作为通信测距帧的帧头，通信测距帧包括帧头、通信数据、帧尾；Step 1: Align the transmitter and receiver of the two ranging communication stations, hereinafter referred to as A and B for short, and at A and B stations will have unique, good autocorrelation and cross-correlation characteristics. The ranging code and its clock signal are cached locally and used as the local ranging code and the local clock signal respectively, and then the ranging code is embedded in the communication data, and then encoded to form a communication ranging frame, and the ranging code is used as a communication ranging frame. The frame header of the communication ranging frame includes the frame header, communication data, and frame trailer; 步骤二：A、B两站采用双向单程的通信方式，A站的通信测距帧作为激光光源的载波经光相位调制器调制，同理，B站与A站的工作相同，两站约定在t0时刻相互发射，由于两地时钟的差异，A站的发射时间为tA0，B站的发射时刻为tB0；Step 2: The two stations A and B adopt a two-way one-way communication method. The communication ranging frame of station A is modulated by the optical phase modulator as the carrier of the laser light source. Similarly, the work of station B and station A is the same. At time t 0 , they transmit each other. Due to the difference between the clocks of the two places, the transmission time of station A is t A0 , and the transmission time of station B is t B0 ; 步骤三：A站接收到B站发射的信号，B站接收到A站发射的信号，将A、B两站接收后的信号进行解调、时钟恢复，抽样判决、解码得到测距码和通信数据；Step 3: Station A receives the signal transmitted by station B, station B receives the signal transmitted by station A, demodulates the signals received by stations A and B, performs clock recovery, sampling judgment, and decoding to obtain ranging code and communication data; 步骤四：在A站将恢复的时钟信号与步骤一中缓存的本地的时钟信号进行相位比对，得到两个时钟信号在一个时钟周期内的相位差进而求得A站的一个测距码码元宽度内的精测时间值其中，T是时钟信号的周期，它等于测距码的码元宽度，同理可得到B站的一个测距码码元宽度内的精测时间值ΔTB，在A站将解码后得到的测距码与步骤一中缓存的本地测距码进行相关运算，得到整数倍码元宽度即为粗测时间值(nT)A，其中，T为测距码的码元宽度，n为整数，同理可得到B站的粗测时间值(nT)B；Step 4: Compare the phase between the recovered clock signal and the local clock signal buffered in step 1 at station A to obtain the phase difference between the two clock signals within one clock cycle Then obtain the precise measurement time value within the width of a ranging symbol of station A Among them, T is the period of the clock signal, which is equal to the symbol width of the ranging code. Similarly, the precise measurement time value ΔT B within the symbol width of a ranging code at station B can be obtained. The ranging code is correlated with the local ranging code cached in step 1, and the obtained integer multiple symbol width is the rough measurement time value (nT) A , where T is the symbol width of the ranging code, n is an integer, Similarly, the rough measurement time value (nT) B of station B can be obtained; 步骤五:计算A、B的距离：TA表示A站从发送信号到接收到B站的信号的时间，TB表示B站从发送信号到接收到A站的信号的时间，TA＝(nT)A+ΔTA，TB＝(nT)B+ΔTB，A、B两站的传输延时按下列公式计算A、B间距离s和两地的时钟差Δtclk：Step 5: Calculate the distance between A and B: T A represents the time from sending a signal to station A to receiving the signal of station B , TB represents the time from sending a signal to station B to receive the signal of station A, T A =( nT) A +ΔT A , T B =(nT) B +ΔT B , the transmission delay of the two stations A and B Calculate the distance s between A and B and the clock difference Δt clk between the two places according to the following formula: 其中，c为光速。where c is the speed of light.
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