CN104202812A - High precision time synchronization method suitable for precise positioning system - Google Patents
High precision time synchronization method suitable for precise positioning system Download PDFInfo
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- CN104202812A CN104202812A CN201410398624.3A CN201410398624A CN104202812A CN 104202812 A CN104202812 A CN 104202812A CN 201410398624 A CN201410398624 A CN 201410398624A CN 104202812 A CN104202812 A CN 104202812A
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Abstract
The invention provides a high precision time synchronization method suitable for a precise positioning system. According to a time synchronization frame S1 transmitted by a base station A and the time synchronization frame S1 received by a base station B, a relative time relation between the base station A and the base station B is established; the base station A transmits time synchronization information M1 to a time synchronization engine, so that a data relation between the time synchronization engine and the base station A is realized; the base station B transmits time synchronization information M2 to the time synchronization engine, so that a data relation between the time synchronization engine and the base station B is realized; and the time synchronization engine analyzes and calculates the time synchronization information M1 transmitted by the base station A and the time synchronization information M2 transmitted by the base station B so as to achieve time synchronization of the base station A and the base station B. The high precision time synchronization method can improve the time synchronization precision to 0.02 microsecond, thereby greatly improving the positioning precision of the precise positioning system.
Description
Technical field
The present invention relates to placement technology, refer to especially a kind of method of the precise synchronization that is applicable to Precise Position System.
Background technology
TDOA location (Time Difference of Arrival is poor the time of advent) is a kind of method that the time difference positions of utilizing.The signal sending by measurement and positioning label arrives the time of locating base station, can determine the distance in arriving signal source.TDOA navigation system (as shown in Figure 1) utilizes signal source to arrive the distance of each locating base station, just can determine the position of signal.Arrive the time difference of each locating base station by comparison signal, just can make taking locating base station as focus, the hyperbola that range difference is major axis, hyp intersection point is exactly the position of signal source.
In order to realize the pinpoint function of TDOA system, just require to realize high-precision time synchronized between locating base station.
Summary of the invention
The present invention proposes a kind of method of the precise synchronization that is applicable to Precise Position System, has solved the not high enough problem of the accuracy of TDOA in prior art.
Technical scheme of the present invention is achieved in that a kind of method of the precise synchronization that is applicable to Precise Position System, comprises the steps,
Step 1, juxtaposition base station A and at least two locating base station of base station B, quantizing the transmission time of wireless signal between base station A and base station B is △ T1,
Step 2, base station A is at T1 moment transmitting time synchronization frame S1 to base station B, and recording transmitting time is T1, and the while, base station A transmitting time synchronization message frame M1 was to time synchronized engine,
Step 3, base station B time of reception synchronization frame S1 to record time of reception be T2, base station B transmitting time synchronization message frame M2 is to time synchronized engine simultaneously,
Step 4, according to wireless signal, transmission time △ T1, the T1 between base station A and base station B and T2 determine and the time difference situation of base station B and base station A calculate time difference by △ T=T2-T1-△ T1 time synchronized engine, and the time of synchronising base station A and base station B,
Its periodically repeating step 2 to step 4.
Further, quantize the distance B of base station A and base station B, the poor value of the time synchronized in step 1 is △ T1=D/C, and wherein C is the light velocity.
Wherein, S1 comprises the sequence number of time synchronized frame and the ID of base station A.
Wherein, M1 comprises sequence number, the ID of base station A and the transmitting time T1 of time synchronized frame S1 of time synchronized frame S1.
Wherein, M2 comprises the sequence number of time synchronized frame S1, the ID of base station A, the time T 2 of the ID of base station B and time of reception synchronization frame S1.
Compared with prior art, the method for a kind of precise synchronization that is applicable to Precise Position System provided by the invention, the time synchronized frame S1 that the time synchronized frame S1 launching by base station A and base station B receive, sets up the relative time relation of base station A and base station B.To time synchronized engine, realize the data relationship contact of time synchronized engine and base station A by base station A synchronization message launch time M1.By base station B synchronization message launch time M2 to time synchronized engine, realize the data relationship contact of time synchronized engine and base station B, time synchronized engine, by the analysis and calculation of the time synchronized message M2 of the time synchronized message M1 to base station A transmission and base station B transmission, completes the time synchronized of base station A and base station B.Its specific implementation is simple, feasibility is strong, can not produce or seldom produce expense.Because the local zone time system of base station A and base station B can exist regular hour shake and skew, so need to periodically carry out time synchronized.High-precision method for synchronizing time can be promoted to timing tracking accuracy 0.02 microsecond, by greatly improving the positioning precision of Precise Position System, significant.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the TDOA navigation system schematic diagram in background technology.
Fig. 2 is time synchronized schematic diagram provided by the invention.
Fig. 3 is base station provided by the invention topology schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Fig. 2 ~ 3, a kind of method of the precise synchronization that is applicable to Precise Position System, comprises the steps,
Step 1, juxtaposition base station A and at least two locating base station of base station B, quantizing the transmission time of wireless signal between base station A and base station B is △ T1,
Step 2, base station A is at T1 moment transmitting time synchronization frame S1 to base station B, and recording transmitting time is T1, and the while, base station A transmitting time synchronization message frame M1 was to time synchronized engine,
Step 3, base station B time of reception synchronization frame S1 to record time of reception be T2, base station B transmitting time synchronization message frame M2 is to time synchronized engine simultaneously,
Step 4, according to wireless signal, transmission time △ T1, the T1 between base station A and base station B and T2 determine and the time difference situation of base station B and base station A calculate time difference by △ T=T2-T1-△ T1 time synchronized engine, and the time of synchronising base station A and base station B,
Its periodically repeating step 2 to step 4.
As preferably, quantize the distance B of base station A and base station B, the poor value of the time synchronized in step 1 is △ T1=D/C, wherein C is the light velocity.
As preferably, S1 comprises the sequence number of time synchronized frame and the ID of base station A.
As preferably, M1 comprises sequence number, the ID of base station A and the transmitting time T1 of time synchronized frame S1 of time synchronized frame S1.
As preferably, M2 comprises the sequence number of time synchronized frame S1, the ID of base station A, the time T 2 of the ID of base station B and time of reception synchronization frame S1.
The method of a kind of precise synchronization that is applicable to Precise Position System provided by the invention, precise synchronization machine method, it is mainly made up of two parts, is respectively locating base station and synchronization engine.
Wherein, base station is locating base station, and base station at least comprises that two is base station A and base station B, but is not limited to base station A and base station B.Above-mentioned base station number is an integer base station that are greater than 1 such as 2,3,4,5,6.
Base station A transmitting time synchronization frame, base station B receives the time synchronized frame from base station A, base station A and base station B transmission synchronizing information frame correlation time are to synchronization engine, synchronization engine synchronizing information analysis time frame, calculate the difference of the time between base station, synchronization engine records the time difference between base station, thereby completes time synchronized between locating base station.
Further, time synchronized frame is sent in any first base station of many base stations, the second base station receives the time synchronized frame sending from the first base station, the relevant information of the time synchronized frame of transmission is sent to synchronization engine by the first base station, the relevant information of the time synchronized frame of reception is sent to synchronization engine by the second base station, time synchronized engine receives the time synchronized message of self-align the first base station and the transmission of the second base station, carry out synchronizing information frame analysis time by synchronization engine, and calculate the time difference between locating base station, complete the time synchronized between locating base station.
Base station A periodically sends time synchronized frame, records the transmitting time T1 of synchronization frame, when locating base station B receives the time synchronized frame of base station A, records time of reception T2.Base station A and base station B send to the temporal information of sending and receiving time synchronized frame on synchronization engine respectively.Engine of positioning completes the time synchronized of base station A and base station B, improves the precision of time synchronized, periodic transmitting time synchronization frame between base station.
Locating base station A transmitting time synchronization frame S1, this frame comprises following data cell:
Frame type, the type of identification frames.As preferably, length is 1 byte; As preferably, its value is 0x87;
Frame length, the length of identification frames.As preferably, length is 1 byte; As preferably, its value is 8;
Number of frames, is used for identification frames, and its method is that base station sends a time synchronized frame, and number of frames increases by 1.Guarantee within a period of time, the time synchronized frame that send base station can be by the unique identification of synchronization engine.As preferably, length is 2 bytes;
Base station IDs: unique identification is decided to be the ID of base station, different base stations, different numerical value.As preferably, length is 4 bytes;
Time synchronized frame S1 sends between base station, as a kind of frame of time synchronized.
Time synchronized frame is defined as follows table:
Table 1: time synchronized frame frame structure (S1)
| Sequence number | Title | Length (unit: BYTE) | Explanation |
| 1 | Frame type | 1 | Frame type, is fixed as 0x87 |
| 2 | Frame length | 1 | Frame length, is fixed as 8 |
| 3 | Number of frames | 2 | Number of frames, is used for identifying synchronization frame |
| 4 | Base station IDs | 4 | Base station IDs, the ID of the locating base station of transmission synchronization frame |
Base station A transmitting time synchronization frame S1 to base station B after, time synchronization information frame M1 is sent to synchronization engine by base station A, time synchronization information frame M1 specifically comprises following data cell:
Frame type: the type of identification frames.As preferably, length is 1 byte; As preferably, it refers to for 0x02;
Sequence number: be used for time synchronized frame, the value of the sequence number in the time synchronized frame S1 that send the value of sequence number and base station equates.As preferably, length is 2 bytes;
Send the ID of base station: identified time synchronization frame sends the ID of base station.As preferably, length is 4 bytes;
Transmitting time: the time that time synchronized frame sends, as preferably, length is 5 bytes.
Time synchronization information frame M1 is a kind of frame that is sent to synchronization engine by the base station of transmitting time synchronization frame.
Time synchronization information frame definition is as following table:
Table 2: time synchronization information frame (M1)
| Sequence number | Data | Length | Explanation |
| 1 | Frame type | 1 | Frame type, is fixed as 0x02 |
| 2 | Sequence number | 2 | The sequence number of time synchronized frame |
| 3 | Send the ID of base station | 4 | The ID of the base station of transmitting time synchronization frame |
| 4 | Transmitting time | 5 | The time that time synchronized frame sends |
Time synchronization information frame is sent to synchronization engine by base station B, and time synchronization information frame comprises following content: the sequence number S of time synchronized frame, the ID of base station A, the time of reception T2 of the ID of base station B and time synchronized frame.
Base station B receives after the time synchronized frame S1 of base station A, and time synchronization information frame M2 is sent to synchronization engine by base station B, and time synchronization information frame M2 specifically comprises as lower unit:
Frame type: the type of identification frames.As preferably, length is 1 byte; As preferably, it refers to for 0x03;
Sequence number: be used for time synchronized frame, the value of the sequence number in the time synchronized frame S1 that the value of sequence number and base station receive equates.As preferably, length is 2 bytes;
Send the ID of base station: identified time synchronization frame sends the ID of base station.The value of the ID of the base station in the value of the ID of transmission base station and the time synchronized frame S1 that base station receives equates.As preferably, length is 4 bytes;
Receive the ID of base station: identified time synchronization frame receives the ID of base station.As preferably, length is 4 bytes;
Time of reception: the time that time synchronized frame receives, as preferably, length is 5 bytes.
Time synchronization information frame M2 is a kind of frame that is sent to synchronization engine by the base station of time of reception synchronization frame.
Time synchronization information frame M2 is as following table:
Table 3: time synchronization information frame (M2)
| Sequence number | Data | Length | Explanation |
| 1 | Data type | 1 | 0x03 |
| 2 | Sequence number | 2 | Identical with the sequence number of transmit leg |
| 3 | Send the ID of base station | 4 | The ID of the base station of transmitting time synchronization frame |
| 4 | Receive the ID of base station | 4 | The ID of the base station of time of reception synchronization frame |
| 5 | Time of reception | 5 | The time that time synchronized frame receives |
Synchronization engine is received time synchronization information frame M1 and the M2 of base station A and base station B, by resolving respectively, obtain the ID of base station A, the ID of base station B, the sequence number of time synchronized frame S1, the time T 2 of the time T 1 of base station A transmitting time synchronization frame and base station B time of reception synchronization frame.Distance between base station A and base station B is known constant D, and the aerial transmission time △ T1 that time synchronized frame sends to base station B from base station A is: △ T1=D/C, the time difference of base station A and base station B is: △ T=T2 – T1-△ T1.Synchronization engine records the time difference of base station A and base station B, thereby has completed the time synchronized of base station A and base station B.
Because base station A and base station B are local zone time system, can there is length of arrangement wire and loading problem, cannot can life period shake and skew, so high-precision time synchronization method requires periodically to repeat above-mentioned step with avoiding, obtain high-precision time synchronized, improve accuracy.As preferably, periodically the time interval is 200 milliseconds.
In sum, the method for a kind of precise synchronization that is applicable to Precise Position System provided by the invention, the time synchronized frame S1 that the time synchronized frame S1 launching by base station A and base station B receive, sets up the relative time relation of base station A and base station B.To time synchronized engine, realize the data relationship contact of time synchronized engine and base station A by base station A synchronization message launch time M1.By base station B synchronization message launch time M2 to time synchronized engine, realize the data relationship contact of time synchronized engine and base station B, the analysis and calculation of the time synchronized message M2 that time synchronized engine sends by the time synchronized message M1 to base station A transmission and base station B, the lock in time that completes base station A and base station B.Its specific implementation is simple, feasibility is strong, can not produce or seldom produce expense.Because the local zone time system of base station A and base station B is certain to exist certain shake and skew, so need to periodically carry out time synchronized, high-precision method for synchronizing time can be promoted to timing tracking accuracy 0.02 microsecond, will greatly improve the precision of Precise Position System.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. a method that is applicable to the precise synchronization of Precise Position System, is characterized in that: comprises the steps,
Step 1, juxtaposition base station A and at least two locating base station of base station B, quantizing the transmission time of wireless signal between base station A and base station B is △ T1,
Step 2, base station A is at T1 moment transmitting time synchronization frame S1 to base station B, and recording transmitting time is T1, and the while, base station A transmitting time synchronization message frame M1 was to time synchronized engine,
Step 3, base station B time of reception synchronization frame S1 to record time of reception be T2, base station B transmitting time synchronization message frame M2 is to time synchronized engine simultaneously,
Step 4, according to wireless signal, transmission time △ T1, the T1 between base station A and base station B and T2 determine and the time difference situation of base station B and base station A calculate time difference by △ T=T2-T1-△ T1 time synchronized engine, and the time of synchronising base station A and base station B,
Its periodically repeating step 2 to step 4.
2. the method for a kind of precise synchronization that is applicable to Precise Position System according to claim 1, is characterized in that:
The distance B that quantizes base station A and base station B, the poor value of the time synchronized in step 1 is △ T1=D/C, wherein C is the light velocity.
3. the method for a kind of precise synchronization that is applicable to Precise Position System according to claim 1, is characterized in that:
S1 comprises the sequence number of time synchronized frame and the ID of base station A.
4. according to the method for a kind of precise synchronization that is applicable to Precise Position System one of claim 1 ~ 3 Suo Shu, it is characterized in that:
M1 comprises sequence number, the ID of base station A and the transmitting time T1 of time synchronized frame S1 of time synchronized frame S1.
5. according to the method for a kind of precise synchronization that is applicable to Precise Position System one of claim 1 ~ 3 Suo Shu, it is characterized in that:
M2 comprises the sequence number of time synchronized frame S1, the ID of base station A, the time T 2 of the ID of base station B and time of reception synchronization frame S1.
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| CN106028438A (en) * | 2016-05-18 | 2016-10-12 | 北京永安信通科技有限公司 | Method, device and system for base station time synchronization algorithm |
| WO2019140638A1 (en) * | 2018-01-19 | 2019-07-25 | 深圳市大疆创新科技有限公司 | Positioning system and time synchronization control and apparatus therefor |
| WO2020087370A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市汇顶科技股份有限公司 | Method and device for time synchronization, and storage medium |
| CN111869280A (en) * | 2018-03-14 | 2020-10-30 | 洛克达股份有限公司 | Method and apparatus for synchronizing positioning network |
| US11974247B2 (en) | 2018-03-14 | 2024-04-30 | Locata Corporation Pty Ltd | Method and apparatus for synchronising a location network |
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