CN114647178B - Automatic atomic clock calibration method and system based on Beidou and ground reference transmission - Google Patents
Automatic atomic clock calibration method and system based on Beidou and ground reference transmission Download PDFInfo
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- G—PHYSICS
- G04—HOROLOGY
- G04F—TIME-INTERVAL MEASURING
- G04F5/00—Apparatus for producing preselected time intervals for use as timing standards
- G04F5/14—Apparatus for producing preselected time intervals for use as timing standards using atomic clocks
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- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
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Abstract
The application relates to an atomic clock automatic calibration method, system, computer equipment and storage medium based on Beidou and ground reference transmission. The method comprises the following steps: measuring the frequency stability and the initial frequency accuracy of a rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment; measuring time difference signals of a rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver; according to the frequency stability and the time difference signal, a measuring matrix of a Kalman filtering algorithm is constructed; constructing state equations of a Kalman filtering algorithm of four parameters; the four parameters include: phase, frequency drift, and frequency stability; and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for iteration of a Kalman filtering algorithm, and outputting frequency control information to calibrate the rubidium atomic clock to be detected. The rubidium atomic clock can be automatically calibrated by adopting the method.
Description
Technical Field
The application relates to the technical field of data processing, in particular to an atomic clock automatic calibration method and system based on Beidou and ground reference transmission.
Background
With the wide application of Beidou timing, the long-term stability and high accuracy of Beidou timing signals are utilized, the frequency deviation and frequency drift rate parameters of the rubidium atomic clock are calculated by measuring the time deviation between the rubidium atomic clock and satellite timing signals and using a Kalman filter, and then the frequency accuracy of the rubidium atomic clock is automatically calibrated, so that the frequency signals with high accuracy are obtained. In the existing technology for calibrating the rubidium atomic clock by the Beidou satellite, a method for estimating the accuracy of the initial frequency is mainly adopted, and the rubidium atomic clock is calibrated by a Kalman filtering algorithm of three state parameters of phase, frequency and frequency drift.
However, the high-precision time service/conservation system is internally provided with the rubidium atomic clock, and because the output frequency of the rubidium atomic clock frequency source has the characteristic of aging drift, namely the accuracy of the output frequency is poor along with the change of time, the rubidium atomic clock is required to be sent to a metering hospital periodically, the accuracy of the frequency is measured by a primary frequency standard and is manually calibrated, the calibration process and equipment are complex and long in time, and the integral use of the high-precision time service/conservation system is influenced.
Disclosure of Invention
Based on the above, it is necessary to provide an atomic clock automatic calibration method, system, computer device and storage medium based on Beidou and ground reference transmission.
An atomic clock automatic calibration method based on Beidou and ground reference transmission, comprising the following steps:
measuring the frequency stability and the initial frequency accuracy of a rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment;
measuring time difference signals of a rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver;
according to the frequency stability and the time difference signal, a measurement matrix of a Kalman filtering algorithm is constructed;
constructing state equations of a Kalman filtering algorithm of four parameters; the four parameters include: phase, frequency drift, and frequency stability;
and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor to iterate a Kalman filtering algorithm, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
In one embodiment, the method further comprises: the frequency measurement equipment receives a ground reference signal and a rubidium atomic clock signal to be detected, and obtains the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected according to the ground reference signal and the rubidium atomic clock signal to be detected.
In one embodiment, the method further comprises: acquiring the state equation and a pre-constructed linear connection matrix; the element corresponding to the phase and the frequency stability in the linear connection matrix is 1, and the element corresponding to the frequency and the frequency drift is 0; and obtaining a measurement matrix according to the state equation and the linear connection matrix.
In one embodiment, the measurement matrix is expressed as:
Z(k)＝x 1 (k)+x 4 (k)+n 0 (t)
where Z (k) =h×x (k), H denotes a linear connection matrix, h= (1 0 0 1), X denotes a multiplication of the matrix, X denotes a state equation, X (k) denotes a state value at the kth observation, and X (k) = (X) 1 (k) x 2 (k) x 3 (k) x 4 (k)) T ，x 1 (k) Represents the phase at the kth observation, x 2 (k) Represents the frequency at the kth observation, x 3 (k) Represents the frequency drift, x, at the kth observation 4 (k) Indicating the frequency stability at the kth observation, (·) T Representing transpose operation of matrix, n 0 (t) is zero-mean white noise, k represents the observation sequence number, and t represents the observation time.
In one embodiment, the state equation is expressed as:
wherein,,
a system state transition matrix is represented and,x represents multiplication of the matrix, t represents the observation time, τ represents the observation time interval, and Δx represents the observation error.
In one embodiment, the method further comprises: and the time difference measuring circuit measures and receives the output signal of the Beidou receiver and the output signal of the rubidium atomic clock, and obtains a time difference signal of the rubidium atomic clock to be detected according to the time difference between the output signal of the Beidou receiver and the output signal of the rubidium atomic clock.
In one embodiment, the method further comprises: obtaining an initial state value and an initial variance according to the frequency stability and the initial frequency accuracy; updating a predicted state value, a predicted variance and a Kalman gain according to the state equation, the initial state value and the initial variance to obtain a measurement result; obtaining an estimated variance and an estimated value according to the predicted state value, the measurement result, the predicted variance and the Kalman gain; inputting the estimated variance and the estimated value into a state equation for iterative updating, and obtaining an optimal estimated variance and an optimal estimated state value when the estimated variance is smaller than the frequency stability; and outputting frequency control information according to the optimal estimated state value so as to calibrate the rubidium atomic clock to be detected.
An atomic clock automatic calibration system based on Beidou and ground reference transfer, the system comprising:
the parameter measurement module is used for measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through the ground reference station and the frequency measurement equipment;
the signal measurement module is used for measuring time difference signals of the rubidium atomic clock to be detected through the time difference measurement circuit and the Beidou receiver;
the measuring matrix construction module is used for constructing a measuring matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal;
the state equation construction module is used for constructing state equations of a Kalman filtering algorithm of four parameters; the four parameters include: phase, frequency drift, and frequency stability.
And the automatic calibration module is used for inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for iteration of a Kalman filtering algorithm and outputting frequency control information so as to calibrate the rubidium atomic clock to be detected.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
measuring the frequency stability and the initial frequency accuracy of a rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment;
measuring time difference signals of a rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver;
according to the frequency stability and the time difference signal, a measurement matrix of a Kalman filtering algorithm is constructed;
constructing state equations of a Kalman filtering algorithm of four parameters; the four parameters include: phase, frequency drift, and frequency stability;
and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor to iterate a Kalman filtering algorithm, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
measuring the frequency stability and the initial frequency accuracy of a rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment;
measuring time difference signals of a rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver;
according to the frequency stability and the time difference signal, a measurement matrix of a Kalman filtering algorithm is constructed;
constructing state equations of a Kalman filtering algorithm of four parameters; the four parameters include: phase, frequency drift, and frequency stability;
and inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor to iterate a Kalman filtering algorithm, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
According to the atomic clock automatic calibration method and system based on Beidou and ground reference transmission, the frequency initial accuracy of the rubidium atomic clock is measured through the ground reference, accurate initial parameters can be provided for Beidou Kalman filtering, iteration times are reduced, and convergence time is shortened; the frequency stability of the rubidium atomic clock is measured through a ground reference, and the prediction accuracy can be improved by adopting a four-parameter state equation of phase, frequency drift and stability; after the data processor receives the initial accuracy and the frequency stability of the frequency, the frequency control parameters are calculated according to the four-parameter state equation according to the time difference measurement value, so that the rubidium atomic clock can be automatically calibrated.
Drawings
FIG. 1 is a flow chart of an atomic clock auto-calibration method based on Beidou and ground reference transfer in one embodiment;
fig. 2 is a schematic diagram of an atomic clock automatic calibration system based on Beidou and ground reference transmission in a specific embodiment;
FIG. 3 is a flow chart of an atomic clock auto-calibration method based on Beidou and ground reference transfer in one embodiment;
FIG. 4 is a block diagram of an atomic clock auto-calibration system based on Beidou and ground reference transfer in one embodiment;
fig. 5 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, an atomic clock automatic calibration method based on Beidou and ground reference transmission is provided, and the method comprises the following steps:
The rubidium atomic clock is a high-precision and high-reliability synchronous clock product, and the clock organically combines a high-stability rubidium oscillator with a GPS high-precision time service, frequency measurement and time synchronization technology, so that the output frequency of the rubidium oscillator is tamed and synchronized on a GPS satellite cesium atomic clock signal, the long-term stability and accuracy of the frequency signal are improved, and a high-precision time-frequency standard of clock magnitude can be provided. The ground reference station is a ground fixed observation station which continuously observes satellite navigation signals for a long time and transmits observation data to a data center in real time or at fixed time by a communication facility. The initial frequency accuracy of the rubidium atomic clock to be detected is measured through the ground reference, so that the convergence time of the rubidium atomic clock calibration can be shortened.
And 104, measuring time difference signals of the rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver.
And 106, constructing a measurement matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal.
The frequency stability identifies the stability of the operating frequency of the oscillator, and Kalman filtering (Kalman filtering) is an algorithm that uses a linear system state equation to optimally estimate the system state by inputting and outputting observed data through the system. The optimal estimate can also be seen as a filtering process, since the observed data includes the effects of noise and interference in the system.
And 108, constructing state equations of a Kalman filtering algorithm with four parameters.
The four parameters comprise phase, frequency drift and frequency stability, the frequency stability of the rubidium atomic clock is measured through a ground reference, and the frequency stability parameter is added in the state parameter, so that the accuracy of Kalman filtering prediction can be improved.
And 110, inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for iteration of a Kalman filtering algorithm, and outputting frequency control information to calibrate the rubidium atomic clock to be detected.
According to the atomic clock automatic calibration method based on Beidou and ground reference transmission, the frequency initial accuracy of the rubidium atomic clock is measured through the ground reference, so that accurate initial parameters can be provided for Beidou Kalman filtering, iteration times are reduced, and convergence time is shortened; the frequency stability of the rubidium atomic clock is measured through a ground reference, and a four-parameter state equation of phase, frequency drift and stability is adopted, so that the prediction error can be reduced, and the prediction accuracy is improved; after the data processor receives the initial accuracy and the frequency stability of the frequency, the frequency control parameters are calculated according to the four-parameter state equation according to the time difference measurement value, so that the rubidium atomic clock can be automatically calibrated.
In one embodiment, measuring the frequency stability and initial frequency accuracy of the rubidium atomic clock to be detected by a ground reference station and frequency measurement device comprises: the frequency measurement equipment receives the ground reference signal and the rubidium atomic clock signal to be detected, and obtains the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected according to the ground reference signal and the rubidium atomic clock signal to be detected. In this embodiment, specifically, the frequency measurement device receives a 10MHz signal transmitted by the rubidium atomic clock to be detected, measures the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected with reference to the 10MHz signal transmitted by the ground reference, and transmits the measured value to the data processor. The initial frequency accuracy of the rubidium atomic clock is measured through the ground reference, and accurate initial parameters are provided for Kalman filtering, so that the iteration times are reduced, and the convergence time is shortened.
In one embodiment, constructing a measurement matrix of a kalman filter algorithm according to the frequency stability and the time difference signal includes: acquiring a state equation and a pre-constructed linear connection matrix; the element corresponding to the phase and the frequency stability in the linear connection matrix is 1, and the element corresponding to the frequency and the frequency drift is 0; obtaining a measurement matrix according to the state equation and the linear connection matrix; the measurement matrix is expressed as:
Z(k)＝x 1 (k)+x 4 (k)+n 0 (t)
where Z (k) =h×x (k), H denotes a linear connection matrix, h= (1 0 0 1), X denotes a multiplication of the matrix, X denotes a state equation, X (k) denotes a state value at the kth observation, and X (k) =(x 1 (k) x 2 (k) x 3 (k) x 4 (k)) T ，x 1 (k) Represents the phase at the kth observation, x 2 (k) Represents the frequency at the kth observation, x 3 (k) Represents the frequency drift, x, at the kth observation 4 (k) Indicating the frequency stability at the kth observation, (·) T Representing transpose operation of matrix, n 0 (t) is zero-mean white noise, k represents the observation sequence number, and t represents the observation time.
In this embodiment, the input of the state equation of the four-parameter kalman filter is the time difference between the reference second and the local second and the frequency stability, and the measurement matrix is obtained by multiplying the state equation of the four-parameter kalman filter by the linear connection matrix. By adopting a four-parameter state equation of phase, frequency drift and stability, the prediction error of a Kalman calibration algorithm can be reduced, so that the prediction accuracy is improved.
In one embodiment, the state equation is expressed as:
wherein,,
the system state transition matrix is represented, x represents multiplication of the matrix, t represents observation time, τ represents observation time interval, and Δx represents observation error. In this embodiment, τ=1 for a 1pps signal with a receiver. And predicting an optimal estimated state value by adopting a four-parameter state equation of phase, frequency drift and frequency stability, so that the prediction accuracy of the Kalman filtering is improved.
In one embodiment, measuring, by the time difference measurement circuit and the Beidou receiver, the time difference signal of the rubidium atomic clock to be detected includes: the time difference measuring circuit measures and receives the output signal of the Beidou receiver and the output signal of the rubidium atomic clock, and obtains the time difference signal of the rubidium atomic clock to be detected according to the time difference between the output signal of the Beidou receiver and the output signal of the rubidium atomic clock.
Specifically, the time difference measuring circuit measures the time difference of the output 1PPS of the Beidou receiver and the output 1PPS of the rubidium atomic clock, and transmits the measured value to the data processor.
In one embodiment, as shown in fig. 3, inputting the frequency stability, the initial frequency accuracy and the time difference signal into the processor to iterate the kalman filtering algorithm, and outputting the frequency control information to calibrate the rubidium atomic clock to be detected includes: obtaining an initial state value and an initial variance according to the frequency stability and the initial frequency accuracy; updating the predicted state value, the predicted variance and the Kalman gain according to the state equation, the initial state value and the initial variance to obtain a measurement result; obtaining an estimated variance and an estimated value according to the predicted state value, the measurement result, the predicted variance and the Kalman gain; inputting the estimated variance and the estimated value into a state equation for iterative updating, and obtaining an optimal estimated variance and an optimal estimated state value when the estimated variance is smaller than the frequency stability; and outputting frequency control information according to the optimal estimated state value so as to calibrate the rubidium atomic clock to be detected. In this embodiment, the measurement result may be obtained by a measurement matrix.
In a specific embodiment, as shown in fig. 2, a schematic diagram of an atomic clock automatic calibration system based on Beidou and ground reference transmission is provided, a frequency measurement device uses a 10MHz signal transmitted by a ground reference as a reference, measures initial frequency accuracy and frequency stability of a rubidium atomic clock to be detected, transmits measured values to a data processor, measures the frequency initial accuracy of the rubidium atomic clock through the ground reference, can provide accurate initial parameters for kalman filtering in the data processor, reduces iteration times, shortens convergence time, a time difference measurement circuit measures time differences of output 1PPS of a Beidou receiver and output 1PPS of the rubidium atomic clock, obtains time difference signals of the rubidium atomic clock to be detected, and transmits the time difference signals to the data processor, and processes parameters input to the data processor through a kalman calibration algorithm in the data processor to generate frequency control signals so as to calibrate the rubidium atomic clock to be detected.
It should be understood that, although the steps in the flowcharts of fig. 1-3 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1-3 may include multiple sub-steps or phases that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or phases are performed necessarily occur sequentially, but may be performed alternately or alternately with at least a portion of the sub-steps or phases of other steps or other steps.
In one embodiment, as shown in fig. 4, there is provided an atomic clock automatic calibration system based on Beidou and ground reference transfer, comprising: a parameter measurement module 402, a signal measurement module 404, a measurement matrix construction module 406, an equation of state construction module 408, and an auto calibration module 410, wherein:
a parameter measurement module 402, configured to measure, by using a ground reference station and a frequency measurement device, a frequency stability and an initial frequency accuracy of a rubidium atomic clock to be detected;
the signal measurement module 404 is configured to measure, through the time difference measurement circuit and the beidou receiver, a time difference signal of the rubidium atomic clock to be detected;
the measurement matrix construction module 406 is configured to construct a measurement matrix of a kalman filter algorithm according to the frequency stability and the time difference signal;
the state equation construction module 408 is configured to construct state equations of the kalman filter algorithm of the four parameters; the four parameters include: phase, frequency drift, and frequency stability.
The automatic calibration module 410 is configured to input the frequency stability, the initial frequency accuracy, and the time difference signal to the processor for iteration of the kalman filter algorithm, and output frequency control information to calibrate the rubidium atomic clock to be detected.
In one embodiment, the parameter measurement module 402 is further configured to receive a ground reference signal and a rubidium atomic clock signal to be detected by using the frequency measurement device, and obtain an initial frequency accuracy and a frequency stability of the rubidium atomic clock to be detected according to the ground reference signal and the rubidium atomic clock signal to be detected.
In one embodiment, the measurement matrix construction module 406 is further configured to obtain a state equation and a pre-constructed linear connection matrix; the element corresponding to the phase and the frequency stability in the linear connection matrix is 1, and the element corresponding to the frequency and the frequency drift is 0; and obtaining a measurement matrix according to the state equation and the linear connection matrix.
In one embodiment, the measurement matrix construction module 406 is further configured to represent the measurement matrix as:
Z(k)＝x 1 (k)+x 4 (k)+n 0 (t)
where Z (k) =h×x (k), H denotes a linear connection matrix, h= (1 0 0 1), X denotes a multiplication of the matrix, X denotes a state equation, X (k) denotes a state value at the kth observation, and X (k) = (X) 1 (k) x 2 (k) x 3 (k) x 4 (k)) T ，x 1 (k) Represents the phase at the kth observation, x 2 (k) Represents the frequency at the kth observation, x 3 (k) Represents the frequency drift, x, at the kth observation 4 (k) Indicating the frequency stability at the kth observation, (·) T Representing transpose operation of matrix, n 0 (t) is zero-mean white noise, k represents the observation sequence number, and t represents the observation time.
In one embodiment, the state equation construction module 408 is further configured to express the state equation as:
wherein,,
the system state transition matrix is represented, x represents multiplication of the matrix, t represents observation time, τ represents observation time interval, and Δx represents observation error.
In one embodiment, the signal measurement module 404 is further configured to measure and receive the output signal of the beidou receiver and the output signal of the rubidium atomic clock by using the time difference measurement circuit, and obtain the time difference signal of the rubidium atomic clock to be detected according to the time difference between the output signal of the beidou receiver and the output signal of the rubidium atomic clock.
In one embodiment, the automatic calibration module 410 is further configured to obtain an initial state value and an initial variance according to the frequency stability and the initial frequency accuracy; updating the predicted state value, the predicted variance and the Kalman gain according to the state equation, the initial state value and the initial variance to obtain a measurement result; obtaining an estimated variance and an estimated value according to the predicted state value, the measurement result, the predicted variance and the Kalman gain; inputting the estimated variance and the estimated value into a state equation for iterative updating, and obtaining an optimal estimated variance and an optimal estimated state value when the estimated variance is smaller than the frequency stability; and outputting frequency control information according to the optimal estimated state value so as to calibrate the rubidium atomic clock to be detected.
Specific limitations regarding the atomic clock automatic calibration system based on the Beidou and ground reference transmission can be found in the above description of the atomic clock automatic calibration method based on the Beidou and ground reference transmission, and will not be described herein. All or part of each module in the atomic clock automatic calibration system based on Beidou and ground reference transmission can be realized through software, hardware and combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, a display screen, and an input system connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by the processor, implements an atomic clock auto-calibration method based on Beidou and ground reference transfer. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input system of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment a computer device is provided comprising a memory storing a computer program and a processor implementing the steps of the method of the above embodiments when the computer program is executed.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method of the above embodiments.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (9)
1. An atomic clock automatic calibration method based on Beidou and ground reference transmission is characterized by comprising the following steps:
measuring the frequency stability and the initial frequency accuracy of a rubidium atomic clock to be detected through a ground reference station and frequency measuring equipment;
measuring time difference signals of a rubidium atomic clock to be detected through a time difference measuring circuit and a Beidou receiver;
according to the frequency stability and the time difference signal, a measurement matrix of a Kalman filtering algorithm is constructed;
constructing state equations of a Kalman filtering algorithm of four parameters; the four parameters include: phase, frequency drift, and frequency stability;
inputting the frequency stability, the initial frequency accuracy and the time difference signal into a processor for iteration of a Kalman filtering algorithm, and outputting frequency control information to calibrate a rubidium atomic clock to be detected;
the measuring of the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through the ground reference station and the frequency measuring equipment comprises the following steps:
the frequency measurement equipment receives a ground reference signal and a rubidium atomic clock signal to be detected, and obtains the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected according to the ground reference signal and the rubidium atomic clock signal to be detected.
2. The method of claim 1, wherein constructing a measurement matrix of a kalman filter algorithm from the frequency stability and the time difference signal comprises:
acquiring the state equation and a pre-constructed linear connection matrix; the element corresponding to the phase and the frequency stability in the linear connection matrix is 1, and the element corresponding to the frequency and the frequency drift is 0;
and obtaining a measurement matrix according to the state equation and the linear connection matrix.
3. The method according to claim 2, characterized in that the measurement matrix is expressed as:
Z(k)＝x 1 (k)+x 4 (k)+n 0 (t)
where Z (k) =h×x (k), H denotes a linear connection matrix, h= (1 0 0 1), X denotes a multiplication of the matrix, X denotes a state equation, X (k) denotes a state value at the kth observation, and X (k) = (X) 1 (k) x 2 (k) x 3 (k) x 4 (k)) T ，x 1 (k) Represents the phase at the kth observation, x 2 (k) Represents the frequency at the kth observation, x 3 (k) Represents the frequency drift, x, at the kth observation 4 (k) Indicating the frequency stability at the kth observation, (·) T Representing transpose operation of matrix, n 0 (t) is zero-mean white noise, k represents the observation sequence number, and t represents the observation time.
4. A method according to claim 3, wherein the equation of state is expressed as:
wherein,,
the system state transition matrix is represented, x represents multiplication of the matrix, t represents observation time, τ represents observation time interval, and Δx represents observation error.
5. The method of claim 1, wherein measuring, by the time difference measurement circuit and the beidou receiver, the time difference signal of the rubidium atomic clock to be detected comprises:
and the time difference measuring circuit measures and receives the output signal of the Beidou receiver and the output signal of the rubidium atomic clock, and obtains a time difference signal of the rubidium atomic clock to be detected according to the time difference between the output signal of the Beidou receiver and the output signal of the rubidium atomic clock.
6. The method of claim 1, wherein inputting the frequency stability, the initial frequency accuracy, and the time difference signal into a processor for iteration of a kalman filter algorithm, outputting frequency control information to calibrate a rubidium atomic clock to be detected comprises:
obtaining an initial state value and an initial variance according to the frequency stability and the initial frequency accuracy;
updating a predicted state value, a predicted variance and a Kalman gain according to the state equation, the initial state value and the initial variance to obtain a measurement result; obtaining an estimated variance and an estimated value according to the predicted state value, the measurement result, the predicted variance and the Kalman gain;
inputting the estimated variance and the estimated value into a state equation for iterative updating, and obtaining an optimal estimated variance and an optimal estimated state value when the estimated variance is smaller than the frequency stability;
and outputting frequency control information according to the optimal estimated state value so as to calibrate the rubidium atomic clock to be detected.
7. An atomic clock automatic calibration system based on big dipper and ground benchmark transmission, characterized in that, the system includes:
the parameter measurement module is used for measuring the frequency stability and the initial frequency accuracy of the rubidium atomic clock to be detected through the ground reference station and the frequency measurement equipment;
the signal measurement module is used for measuring time difference signals of the rubidium atomic clock to be detected through the time difference measurement circuit and the Beidou receiver;
the measuring matrix construction module is used for constructing a measuring matrix of a Kalman filtering algorithm according to the frequency stability and the time difference signal;
the state equation construction module is used for constructing state equations of a Kalman filtering algorithm of four parameters; the four parameters include: phase, frequency drift, and frequency stability;
the automatic calibration module is used for inputting the frequency stability, the initial frequency accuracy and the time difference signal into the processor for iteration of a Kalman filtering algorithm and outputting frequency control information so as to calibrate the rubidium atomic clock to be detected;
and the parameter measurement module is also used for receiving a ground reference signal and a rubidium atomic clock signal to be detected by the frequency measurement equipment, and obtaining the initial frequency accuracy and the frequency stability of the rubidium atomic clock to be detected according to the ground reference signal and the rubidium atomic clock signal to be detected.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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| CN114859685B (en) * | 2022-07-08 | 2022-10-14 | 浙江赛思电子科技有限公司 | Atomic clock anomaly detection method, system, equipment and computer storage medium |
| CN115470918B (en) * | 2022-09-26 | 2024-08-23 | 量子科技长三角产业创新中心 | Time-frequency signal generating device, quantum measurement and control system and measurement and control method |
| CN116224756A (en) * | 2023-03-10 | 2023-06-06 | 中地装（重庆）地质仪器有限公司 | A clock taming device |
| CN116184802B (en) * | 2023-04-26 | 2023-07-28 | 成都量子时频科技有限公司 | Automatic debugging and testing device and method for atomic clock electrical parameters based on FPGA |
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