WO2021223123A1

WO2021223123A1 - Time synchronization method and apparatus, and movable platform and storage medium

Info

Publication number: WO2021223123A1
Application number: PCT/CN2020/088842
Authority: WO
Inventors: 王童; 林涛
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-06
Filing date: 2020-05-06
Publication date: 2021-11-11
Also published as: CN112771795A

Abstract

Disclosed are a multi-system time synchronization method and apparatus for a movable platform, and a movable platform and a storage medium, wherein multiple systems of the movable platform are connected to the same clock source by means of a signal processing apparatus, such that the multiple systems are in clock synchronization with each other by means of a clock pulse signal sent by the clock source. The method comprises: a first system sending a timing signal to at least one second system, so that the at least one second system sets the time thereof according to time information contained in the timing signal, wherein the first system is a time reference system, and the at least one second system is a system, which is to be subjected to time synchronization, in the multiple systems (S101); and the first system sending a synchronization pulse signal to the at least one second system, so that the at least one second system calibrates, according to the synchronization pulse signal, the time set thereby, so as to realize synchronization in terms of time of the at least one second system, and the at least one second system collaboratively processes a highly real-time task on the basis of the synchronized time (S102).

Description

Time synchronization method, device, movable platform and storage medium

Technical field

This application relates to the technical field of time synchronization, and in particular to a time synchronization method, device, removable platform and storage medium.

Background technique

Time synchronization is to provide a unified time scale for distributed systems. When there is a unified time scale, all events of each system have a unified time scale, and there is a clear time sequence relationship. Radars and other communication network equipment have high requirements for time synchronization. Take drones as an example. At present, the clock design of various subsystems such as drone flight control, perception, and image transmission is usually that each subsystem uses its own local crystal oscillator as the clock source, due to the existence of different crystal oscillator frequency deviations, clock jitter, etc. Small differences, as time goes by, there will be more and more deviations in the local time accumulated by each subsystem. In order to eliminate the deviation, the local time of each subsystem is generally calibrated every time.

However, because the phase difference of different crystal oscillators always exists, it is obvious that the local time of each subsystem cannot be completely synchronized, which makes the UAV unable to complete high-real-time tasks such as dual flight control backup and dual perception visual collaboration.

Summary of the invention

Based on this, the present application provides a time synchronization method, device, removable platform, and storage medium, aiming to achieve precise time synchronization of multiple systems on a removable platform to complete high-real-time tasks.

In the first aspect, this application provides a method for time synchronization of multiple systems on a mobile platform. The multiple systems are connected to the same clock source via a signal processing device, so that the clock pulse signal sent by the clock source is used to make the multiple systems Clock synchronization, the method includes:

The first system sends a timing signal to at least one second system for the at least one second system to set the time of the at least one second system according to the time information contained in the timing signal; wherein, the first system One system is a time reference system, and the at least one second system is a system to be time synchronized among the multiple systems;

The first system sends a synchronization pulse signal to the at least one second system, so that the at least one second system can calibrate the time set by the at least one second system according to the synchronization pulse signal, In order to achieve time synchronization of the at least one second system, the at least one second system collaboratively processes high real-time tasks based on the synchronized time.

In the second aspect, this application also provides a method for time synchronization of multiple systems on a mobile platform. The multiple systems are connected to the same clock source via a signal processing device, so that the clock pulse signal sent by the clock source is used to make the multiple System clock synchronization, the method includes:

At least one second system receives the timing signal sent by the first system; wherein, the first system is a time reference system, and the at least one second system is a system to be time synchronized among the multiple systems;

Extract the time information contained in the timing signal, and perform the time setting of the at least one second system according to the time information;

Receiving a synchronization pulse signal sent by the first system;

According to the synchronization pulse signal, the time set by the at least one second system is calibrated to realize the time synchronization of the at least one second system, and the at least one second system performs high-real-time collaborative processing based on the synchronized time Sexual tasks.

In the third aspect, this application also provides a multi-system time synchronization device of a movable platform. The multiple systems are connected to the same clock source via a signal processing device, so that the clock pulse signal sent by the clock source is used to make the multiple System clock synchronization, the device includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Send a timing signal to at least one second system for the at least one second system to set the time of the at least one second system according to the time information contained in the timing signal; wherein, the at least one second system The system is a system to be time synchronized among the multiple systems;

Send a synchronization pulse signal to the at least one second system, so that the at least one second system can calibrate the time set by the at least one second system according to the synchronization pulse signal, so as to realize the at least A second system is time synchronized, and the at least one second system collaboratively processes high real-time tasks based on the synchronized time.

In a fourth aspect, the present application also provides a multi-system time synchronization device of a movable platform. The multiple systems are connected to the same clock source via a signal processing device, so that the clock pulse signal sent by the clock source is used to make the multi-system time synchronization device. System clock synchronization, the device includes a memory and a processor;

The memory is used to store a computer program;

Receiving a timing signal sent by a first system; wherein the first system is a time reference system;

Extract the time information contained in the timing signal, and perform the time setting of at least one second system according to the time information; wherein, the at least one second system is a system to be time synchronized among the multiple systems;

Receiving a synchronization pulse signal sent by the first system;

According to the synchronization pulse signal, the set time is calibrated to realize the time synchronization of the at least one second system, and the at least one second system collaboratively processes high real-time tasks based on the synchronized time.

In a fifth aspect, the present application also provides a movable platform that includes at least one second system, and the at least one second system is in communication connection with the first system; wherein, the first system is time A reference system, where the first system and the at least one second system are connected to the same clock source;

The first system is configured to send a timing signal to the at least one second system;

The at least one second system is configured to perform time setting of the at least one second system according to the time information contained in the timing signal;

The first system is also used to send a synchronization pulse signal to the at least one second system;

The at least one second system is further configured to calibrate the time set by the at least one second system according to the synchronization pulse signal to achieve time synchronization of the at least one second system, and the at least one The second system co-processes high real-time tasks based on synchronized time.

In a sixth aspect, this application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor realizes any of the The time synchronization method described in the item.

The embodiments of the application provide a time synchronization method, device, movable platform, and storage medium. Multiple systems of the movable platform are connected to the same clock source via a signal processing device, and the clock pulse signal sent by the clock source is multiplexed out via the signal processing device. At most systems, multi-system clock synchronization is realized. The first system as the time reference system sends a timing signal to at least one second system to be time-synchronized in the multi-system, and at least one second system performs at least The time setting of a second system; the first system sends a synchronization pulse signal to at least one second system, and the at least one second system calibrates the time set by the at least one second system according to the synchronization pulse signal to achieve at least one second system The system time is synchronized. After that, as time goes by, there will be no time deviation, and accurate time synchronization is achieved, thereby realizing the movable platform to complete high-real-time tasks.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

Figure 1 is a schematic block diagram of the structure of an existing UAV;

FIG. 2 is a schematic block diagram of the structure of a movable platform provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of steps of a method for time synchronization of multiple systems on a mobile platform provided by an embodiment of the present application;

FIG. 4 is a schematic block diagram of the structure of a multi-system of a movable platform provided by an embodiment of the present application;

FIG. 5 is a schematic flowchart of steps of another method for time synchronization of multiple systems on a mobile platform provided by an embodiment of the present application;

FIG. 6 is a schematic block diagram of the structure of a multi-system time synchronization device for a mobile platform provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should also be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

It should be further understood that the term "and/or" used in the specification and appended claims of this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

UAVs, radars, and other communication network equipment have high requirements for time synchronization. Take UAVs as an example. At present, the clock design of various subsystems such as UAV flight control, perception, and image transmission are usually sub-systems. The system uses their respective local crystal oscillators as clock sources. As shown in Figure 1, each subsystem of the drone is connected to the respective local crystal oscillators of each subsystem through the CLK port on its SOC (System-on-a-Chip) chip. Each local crystal oscillator is used as the clock source, and the PPS (Pulse Per Second) signal multiplexed to each SOC chip through the Buffer buffer chip realizes time synchronization.

Due to the slight differences in frequency offsets and clock jitters of different crystal oscillators, as time goes by, the accumulated local time of each subsystem will have larger and larger deviations. In order to eliminate the deviation, the local time of each subsystem is generally calibrated every time. However, because the phase difference of different crystal oscillators always exists, it is obvious that the local time of each subsystem cannot be completely synchronized, which makes the UAV unable to complete high-real-time tasks such as dual flight control backup and dual perception visual collaboration.

Based on the above problems, the embodiments of the present application provide a time synchronization method, device, movable platform, and storage medium, aiming to achieve precise time synchronization of multiple systems of movable platforms such as drones to complete high-real-time tasks.

Please refer to FIG. 2. FIG. 2 is a schematic block diagram of the structure of a movable platform provided by an embodiment of the present application. As shown in FIG. 2, the movable platform 100 includes a body 10 and at least one second system 20 provided in the body 10 , The at least one second system 20 is used to collaboratively complete high-real-time tasks such as dual flight control backup and dual-perceptual visual collaboration.

The second system 20 is in communication connection with the first system 30, where the first system 30 is a time reference system, the first system 30 may be a system of the movable platform 100, and the first system 30 may also be a system of the movable platform 100. Other systems.

The second system 20 and the first system 30 are connected to the same clock source 40, where the clock source 40 may be a clock source of the movable platform 100, and the clock source 40 may also be a clock source other than the movable platform 100. The clock source 40 can be selected as a crystal oscillator. The clock source 40 sends a clock pulse signal to the first system 30 and the at least one second system 20 to synchronize the clocks of the first system 30 and the at least one second system 20.

Exemplarily, at least one of the second system 20 and the first system 30 is connected to the clock source 40 via the signal processing device 50. The clock source 40 sends a clock pulse signal to the signal processing device 50, and the signal processing device 50 multiplexes the clock pulse signal to the first system 30 and at least one second system 20. The signal processing device 50 includes, but is not limited to, a buffer chip, a phase-locked loop chip, and the like.

Exemplarily, the second system 20 and the first system 30 include SOC (System-on-a-Chip) chips. The SOC chip is provided with a first communication interface and a second communication interface. The first communication interface includes but is not limited to UART (Universal Asynchronous Receiver/Transmitter, Universal Asynchronous Receiver/Transmitter) interface, USB (Universal Serial Bus, Universal Serial Bus) Interface, PCIE (peripheral component interconnect express, high-speed serial computer expansion bus standard) interface, CAN (Controller Area Network, Controller Area Network) interface, etc., based on the first communication interface, the first system 30 sends a timing signal to the second system 20. The second system 20 sets the time of the second system 20 according to the time information contained in the timing signal. The second communication interface includes but is not limited to GPIO (General-purpose input/output, general-purpose input/output) interface, etc. Based on the second communication interface, the first system 30 sends a synchronization pulse signal to the second system 20, and the second system 20 According to the synchronization pulse signal, the set time is calibrated to realize the time synchronization of the second system 20.

The movable platform 100 may be a rotary-wing drone. Of course, the movable platform 100 may also be other types of drones or movable devices, and the embodiment of the present application is not limited thereto.

Taking the movable platform 100 as an unmanned aerial vehicle as an example, the unmanned aerial vehicle may have one or more propulsion units to allow the unmanned aerial vehicle to fly in the air. The one or more propulsion units can make the drone move at one or more, two or more, three or more, four or more, five or more, six or more free angles . In some cases, the drone can rotate around one, two, three, or more rotation axes. The rotation axes may be perpendicular to each other. The rotation axis can be maintained perpendicular to each other during the entire flight of the UAV. The rotation axis may include a pitch axis, a roll axis, and/or a yaw axis. The drone can move in one or more dimensions. For example, a drone can move upward due to the lifting force generated by one or more rotors. In some cases, the drone can move along the Z axis (upward relative to the drone direction), X axis, and/or Y axis (which can be lateral). The drone can move along one, two or three axes that are perpendicular to each other.

The drone can have multiple rotors. The rotor can be connected to the main body of the drone, and the main body can include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and/or other sensors. The rotor may be connected to the body by one or more arms or extensions branching from the central part of the body. For example, one or more arms may extend radially from the central body of the drone, and may have rotors at or near the end of the arms.

It can be understood that the naming of the components of the movable platform 100 described above is only for identification purposes, and does not limit the embodiments of the present application accordingly.

Hereinafter, the time synchronization method provided by the embodiment of the present application will be introduced in detail based on the movable platform 100, the second system 20 and the first system 30 in the movable platform 100. It should be noted that the movable platform 100 in FIG. 2 is only used to explain the time synchronization method provided in the embodiment of the present application, but does not constitute a limitation on the application scenario of the time synchronization method.

Please refer to FIG. 3, which is a schematic flowchart of a method for time synchronization of multiple systems on a mobile platform according to an embodiment of the present application. This method can be used in the first system provided in the above embodiment to realize precise time synchronization of multiple systems on a movable platform to complete high real-time tasks.

As shown in FIG. 3, the method for time synchronization of multiple systems of the mobile platform specifically includes step S101 and step S102.

S101. The first system sends a timing signal to at least one second system, so that the at least one second system can set the time of the at least one second system according to the time information contained in the timing signal; The first system is a time reference system, and the at least one second system is a system to be time synchronized among the multiple systems.

Wherein, the first system may be one of the multiple systems of the movable platform, or the first system may also be other systems other than the multiple systems of the movable platform. The second system is a system to be time synchronized among multiple systems on a movable platform. The second system and the first system are connected to the same clock source via the signal processing device. Optionally, the signal processing device includes but is not limited to a buffer chip, a phase-locked loop chip, etc., and the clock source includes but is not limited to a crystal oscillator and the like.

The clock source sends a clock pulse signal to the signal processing device, and the signal processing device multiplexes the clock pulse signal to the first system and at least one second system. The first system and the at least one second system realize clock synchronization according to the clock pulse signal.

The first system serves as a time reference system, and the first system sends a timing signal to at least one second system in the multiple systems of the movable platform, and the timing signal includes time information. For example, time information includes information such as year, month, day, hour, minute, and second.

In some embodiments, both the first system and the second system include a controller, the controller is provided with a first communication interface, and the first system sends a timing signal containing time information to at least one of the The second system, the at least one second system receives the timing signal sent by the first system based on the first communication interface. Optionally, the first communication interface includes at least one of a UART interface, a USB interface, a PCIE interface, and a CAN interface.

In some embodiments, the controller includes an SOC chip, and the first communication interface is provided on the SOC chip. For example, the first system sends a data frame containing time information such as year, month, day, hour, minute, and second to at least one second system of the multiple systems of the movable platform through the UART interface set on the SOC chip. The second system receives a data frame containing time information such as year, month, day, hour, minute, and second sent by the first system based on the UART interface.

After the at least one second system receives the timing signal containing the time information sent by the first system, each second system obtains the time information contained in the timing signal, and performs the time setting of the second system according to the time information.

S102. The first system sends a synchronization pulse signal to the at least one second system, so that the at least one second system can perform the time set by the at least one second system according to the synchronization pulse signal. Calibration to achieve time synchronization of the at least one second system, and the at least one second system collaboratively processes high real-time tasks based on the synchronized time.

Because there is a certain transmission delay in signal transmission, the time set by each second system for time setting according to time information will have a slight difference. In order to achieve precise time synchronization, the first system sends a synchronization pulse signal to the at least one second system. system. Optionally, the synchronization pulse signal sent by the first system is a SYNC signal, and the SYNC signal is a pulse signal. The format of the pulse signal can refer to a PPS (Pulse Per Second) signal.

In some embodiments, the controllers of the first system and the second system are further provided with a second communication interface, the first system sends the synchronization pulse signal to at least one second system based on the second communication interface through the controller, and the at least A second system receives the synchronization pulse signal sent by the first system based on the second communication interface. Optionally, the second communication interface includes a GPIO interface.

In some embodiments, the controller includes an SOC chip, and the second communication interface is provided on the SOC chip. For example, the first system sends a SYNC signal to at least one second system in the multiple systems of the movable platform through the GPIO interface provided on the SOC chip, and the at least one second system receives the SYNC signal sent by the first system based on the GPIO interface.

After each second system receives the synchronization pulse signal sent by the first system, the time set by the second system is calibrated according to the synchronization pulse signal. Specifically, the second system calibrates the set time according to the rising edge or the falling edge of the synchronization pulse signal, so as to realize the time synchronization of the at least one second system.

For example, as shown in FIG. 4, the crystal oscillator outputs a clock pulse signal (clock signal) to the buffer chip (Buffer), and the clock signal is multiplexed to the first system and at least one SOC chip of the second system through the buffer. The first system and the at least one second system receive the clock signal through the clock interface (CLK interface) on the SOC chip, and the first system and the at least one second system realize clock synchronization according to the clock signal.

The first system as the time reference system sends a data frame containing time information such as year, month, day, hour, minute, and second to at least one second system in the multi-system of the movable platform through the UART interface on its SOC chip, The at least one second system receives a data frame containing time information such as year, month, day, hour, minute, and second sent by the first system based on the UART interface, and based on the time information such as year, month, day, hour, minute, and second Make time settings.

The first system sends the SYNC signal to at least one second system in the multi-system of the movable platform through the GPIO interface on the SOC chip, and the at least one second system receives the SYNC signal sent by the first system based on the GPIO interface, and according to the The SYNC signal is used to calibrate the set time, so as to realize the time synchronization of the at least one second system.

Through one time synchronization operation, as time goes by, the at least one second system will not have time deviation and achieve precise time synchronization. Therefore, the mobile platform can collaboratively process high real-time tasks based on the at least one second system. Moreover, after only one time synchronization operation, it is no longer necessary to periodically calibrate the respective local time of the multiple systems of the movable platform every time in order to eliminate the deviation, thereby reducing the system resources.

Please refer to FIG. 5. FIG. 5 is a schematic flowchart of the steps of another method for time synchronization of multiple systems on a mobile platform provided by an embodiment of the present application. The multi-system time synchronization method of the movable platform is applied to the second system provided in the above-mentioned embodiment, so as to realize the accurate time synchronization of the multi-system of the movable platform, so as to complete high real-time tasks.

As shown in FIG. 5, the time synchronization method for multiple systems of the mobile platform includes steps S201 to S204.

S201. At least one second system receives a timing signal sent by the first system; wherein, the first system is a time reference system, and the at least one second system is a system to be time synchronized among the multiple systems.

The first system serves as a time reference system, and the first system sends a timing signal to at least one second system in the multiple systems of the movable platform, and the timing signal includes time information. For example, time information includes information such as year, month, day, hour, minute, and second. At least one second system in the multiple systems of the movable platform receives the timing signal sent by the first system.

S202. Extract time information contained in the timing signal, and perform time setting of the at least one second system according to the time information.

After the at least one second system receives the timing signal containing the time information sent by the first system, each second system extracts the time information contained in the timing signal, and performs the time setting of the second system according to the time information. For example, the local time of the second system is set according to the year, month, day, hour, minute, second and other information contained in the time information.

S203. Receive a synchronization pulse signal sent by the first system.

S204. Calibrate the time set by the at least one second system according to the synchronization pulse signal to achieve time synchronization of the at least one second system, and the at least one second system performs time coordinated processing based on synchronization High real-time tasks.

Since there is a certain transmission delay in signal transmission, the time set by each second system according to the time information will have a slight difference. In order to achieve precise time synchronization of at least one second system, the first system sends a synchronization pulse signal to the at least one second system. The second system. Optionally, the synchronization pulse signal sent by the first system is a SYNC signal, the SYNC signal is a pulse signal, and the format of the pulse signal can refer to the PPS signal.

After each second system receives the synchronization pulse signal sent by the first system, the time set by the second system is calibrated according to the synchronization pulse signal. Specifically, the second system calibrates the set time according to the rising edge or the falling edge of the synchronization pulse signal, so as to realize the time synchronization of the at least one second system. . Therefore, the mobile platform can collaboratively process high real-time tasks based on the at least one second system.

In the method for time synchronization of multiple systems of a movable platform provided by the above-mentioned embodiment, multiple systems of the movable platform are connected to the same clock source via a signal processing device, and the clock pulse signal sent by the clock source is multiplexed to the multiple systems via the signal processing device. System clock synchronization. The first system as the time reference system sends a timing signal to at least one second system to be time synchronized in the multiple systems, and the at least one second system performs at least one second system based on the time information contained in the timing signal. Time setting; the first system sends a synchronization pulse signal to at least one second system, and the at least one second system calibrates the time set by the at least one second system according to the synchronization pulse signal to achieve time synchronization of the at least one second system. As time goes by, there will be no time deviation, accurate time synchronization is achieved, and the mobile platform can complete high real-time tasks.

Please refer to FIG. 6, which is a schematic block diagram of a structure of a multi-system time synchronization device for a mobile platform according to an embodiment of the present application. The multi-system time synchronization device of the movable platform can be applied to the first system other than the movable platform, or in the first system of the multi-system of the movable platform.

The multiple systems of the movable platform are connected to the same clock source via a signal processing device, so that the clock pulse signal sent by the clock source is used to synchronize the clocks of the multiple systems of the movable platform. As shown in FIG. 6, the multi-system time synchronization device 600 of the mobile platform includes a processor 601 and a memory 602. The processor 601 and the memory 602 are connected by a bus 603. The bus 603 is, for example, an I2C (Inter-integrated Circuit) bus. . The multi-system time synchronization device 600 of the movable platform is applied to the first system other than the movable platform, or is applied to the first system of the multi-system of the movable platform, and is used to compare at least one first system of the movable platform. The second system performs precise time synchronization.

Specifically, the processor 601 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when the computer program is executed:

In some embodiments, the device is provided with a first communication interface, and when the processor implements the sending of a timing signal to at least one second system, it specifically implements:

The timing signal is sent to the at least one second system based on the first communication interface.

In some embodiments, the first communication interface includes at least one of a UART interface, a USB interface, a PCIE interface, and a CAN interface.

In some embodiments, the device is further provided with a second communication interface, and when the processor implements the sending of the synchronization pulse signal to the at least one second system, it specifically implements:

The synchronization pulse signal is sent to the at least one second system based on the second communication interface.

In some embodiments, the second communication interface includes a GPIO interface, and the synchronization pulse signal is a SYNC signal.

In some embodiments, the signal processing device includes at least one of a buffer chip and a phase-locked loop chip.

In some embodiments, the device includes an SOC chip, and the first communication interface and the second communication interface are provided on the SOC chip.

It should be noted that those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the multi-system time synchronization device of the movable platform described above can refer to the aforementioned multi-system of the movable platform The corresponding process in the embodiment of the time synchronization method is not repeated here.

The embodiment of the present application also provides another multi-system time synchronization device of a movable platform. The multi-system time synchronization device of the movable platform can be applied to the second system of the multi-system of the movable platform.

The multiple systems of the movable platform are connected to the same clock source via a signal processing device, so that the clock pulse signal sent by the clock source is used to synchronize the clocks of the multiple systems of the movable platform. The multi-system time synchronization device of the mobile platform includes a processor and a memory, and the processor and the memory are connected by a bus, such as an I2C (Inter-integrated Circuit) bus. The multi-system time synchronization device of the movable platform is applied to at least one second system of the multi-system of the movable platform, and is used for precise time synchronization of at least one second system of the movable platform.

Specifically, the processor may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor is used to run a computer program stored in a memory, and implement the following steps when executing the computer program:

Receiving a synchronization pulse signal sent by the first system;

In some embodiments, when the processor implements the calibration of the set time according to the synchronization pulse signal, it specifically implements:

According to the rising edge or the falling edge of the synchronization pulse signal, the set time is calibrated.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The example provides the steps of the multi-system time synchronization method of the mobile platform.

Wherein, the computer-readable storage medium may be the internal storage unit of the mobile platform or the multi-system time synchronization device of the mobile platform described in any of the foregoing embodiments, for example, the mobile platform or the multi-system time synchronization device of the mobile platform or the mobile platform. The hard disk or memory of the system's time synchronization device. The computer-readable storage medium may also be an external storage device of the mobile platform or the multi-system time synchronization device of the mobile platform, for example, the mobile platform or the multi-system time synchronization device of the mobile platform is equipped with Plug-in hard drives, Smart Media Card (SMC), Secure Digital (SD) cards, Flash Cards, etc.

It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A method for time synchronization of multiple systems of a movable platform is characterized in that the multiple systems are connected to the same clock source via a signal processing device to synchronize the clocks of the multiple systems by using the clock pulse signal sent by the clock source. The methods include:

The first system sends a timing signal to at least one second system for the at least one second system to set the time of the at least one second system according to the time information contained in the timing signal; wherein, the first system One system is a time reference system, and the at least one second system is a system to be time synchronized among the multiple systems;

The first system sends a synchronization pulse signal to the at least one second system, so that the at least one second system can calibrate the time set by the at least one second system according to the synchronization pulse signal, In order to achieve time synchronization of the at least one second system, the at least one second system collaboratively processes high real-time tasks based on the synchronized time.
The method according to claim 1, wherein the first system and the second system comprise a controller, the controller is provided with a first communication interface, and the first system communicates with at least one second system. The system sends timing signals, including:

The first system sends the timing signal to the at least one second system based on the first communication interface through the controller.
The method according to claim 2, wherein the first communication interface comprises at least one of a UART interface, a USB interface, a PCIE interface, and a CAN interface.
The method according to claim 2, wherein the controller is further provided with a second communication interface, and the first system sending a synchronization pulse signal to the at least one second system comprises:

The first system sends the synchronization pulse signal to the at least one second system based on the second communication interface through the controller.
The method according to claim 4, wherein the second communication interface comprises a GPIO interface, and the synchronization pulse signal is a SYNC signal.
The method according to claim 1, wherein the clock source is connected to the input terminal of the signal processing device, and the output terminal of the signal processing device is connected to the multi-system;

The clock source sends a clock pulse signal to the signal processing device, and the signal processing device multiplexes the clock pulse signal to the multi-system.
The method according to claim 1, wherein the signal processing device comprises at least one of a buffer chip and a phase-locked loop chip.
The method according to claim 4, wherein the controller comprises an SOC chip, and the first communication interface and the second communication interface are provided on the SOC chip.
The method according to any one of claims 1 to 8, wherein the first system is one of the multiple systems, or the first system is a system other than the multiple systems .
A method for time synchronization of multiple systems of a movable platform, characterized in that the multiple systems are connected to the same clock source via a signal processing device to synchronize the clocks of the multiple systems by using the clock pulse signal sent by the clock source, so The methods include:

At least one second system receives the timing signal sent by the first system; wherein, the first system is a time reference system, and the at least one second system is a system to be time synchronized among the multiple systems;

Extract the time information contained in the timing signal, and perform the time setting of the at least one second system according to the time information;

Receiving a synchronization pulse signal sent by the first system;

According to the synchronization pulse signal, the time set by the at least one second system is calibrated to realize the time synchronization of the at least one second system, and the at least one second system performs high-real-time collaborative processing based on the synchronized time Sexual tasks.
The method according to claim 10, wherein the first system and the second system comprise a controller, the controller is provided with a first communication interface, and the at least one second system receives the first communication interface. The timing signals sent by the system include:

The at least one second system receives the timing signal sent by the first system through a first communication interface.
The method according to claim 11, wherein the controller is further provided with a second communication interface, and the receiving the synchronization pulse signal sent by the first system comprises:

The at least one second system receives the synchronization pulse signal sent by the first system through a second communication interface.
The method according to any one of claims 10 to 12, wherein the calibrating the time set by the at least one second system according to the synchronization pulse signal comprises:

The at least one second system calibrates the set time according to the rising edge or the falling edge of the synchronization pulse signal.
A multi-system time synchronization device with a movable platform, characterized in that the multiple systems are connected to the same clock source via a signal processing device to synchronize the clocks of the multiple systems by using the clock pulse signal sent by the clock source. The device includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Send a timing signal to at least one second system for the at least one second system to set the time of the at least one second system according to the time information contained in the timing signal; wherein, the at least one second system The system is a system to be time synchronized among the multiple systems;

Send a synchronization pulse signal to the at least one second system, so that the at least one second system can calibrate the time set by the at least one second system according to the synchronization pulse signal, so as to realize the at least A second system is time synchronized, and the at least one second system collaboratively processes high real-time tasks based on the synchronized time.
The device according to claim 14, wherein the device is provided with a first communication interface, and when the processor implements the sending of the timing signal to the at least one second system, it specifically implements:

The timing signal is sent to the at least one second system based on the first communication interface.
The device according to claim 15, wherein the first communication interface comprises at least one of a UART interface, a USB interface, a PCIE interface, and a CAN interface.
The device according to claim 15, wherein the device is further provided with a second communication interface, and when the processor implements the sending of the synchronization pulse signal to the at least one second system, it specifically implements:

The synchronization pulse signal is sent to the at least one second system based on the second communication interface.
The device according to claim 17, wherein the second communication interface comprises a GPIO interface, and the synchronization pulse signal is a SYNC signal.
The device according to claim 14, wherein the signal processing device comprises at least one of a buffer chip and a phase-locked loop chip.
The device according to claim 17, wherein the device comprises an SOC chip, and the first communication interface and the second communication interface are provided on the SOC chip.
A multi-system time synchronization device with a movable platform, characterized in that the multiple systems are connected to the same clock source via a signal processing device to synchronize the clocks of the multiple systems by using the clock pulse signal sent by the clock source. The device includes a memory and a processor;

The memory is used to store a computer program;

The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:

Receiving a timing signal sent by a first system; wherein the first system is a time reference system;

Extract the time information contained in the timing signal, and perform the time setting of at least one second system according to the time information; wherein, the at least one second system is a system to be time synchronized among the multiple systems;

Receiving a synchronization pulse signal sent by the first system;

According to the synchronization pulse signal, the set time is calibrated to realize the time synchronization of the at least one second system, and the at least one second system collaboratively processes high real-time tasks based on the synchronized time.
The device according to claim 21, wherein when the processor implements the calibration of the set time according to the synchronization pulse signal, it specifically implements:

According to the rising edge or the falling edge of the synchronization pulse signal, the set time is calibrated.
A movable platform, wherein the movable platform includes at least one second system, and the at least one second system is in communication connection with the first system; wherein, the first system is a time reference system, and the The first system and the at least one second system are connected to the same clock source;

The first system is configured to send a timing signal to the at least one second system;

The at least one second system is configured to perform time setting of the at least one second system according to the time information contained in the timing signal;

The first system is also used to send a synchronization pulse signal to the at least one second system;

The at least one second system is further configured to calibrate the time set by the at least one second system according to the synchronization pulse signal to achieve time synchronization of the at least one second system, and the at least one The second system co-processes high real-time tasks based on synchronized time.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes as described in any one of claims 1 to 9 The method; or the method according to any one of claims 10 to 13.