CN104411009A - Method for estimating loop time delay under remote operation - Google Patents

Method for estimating loop time delay under remote operation Download PDF

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Publication number
CN104411009A
CN104411009A CN201410639955.1A CN201410639955A CN104411009A CN 104411009 A CN104411009 A CN 104411009A CN 201410639955 A CN201410639955 A CN 201410639955A CN 104411009 A CN104411009 A CN 104411009A
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time delay
data
value
loop
under
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CN201410639955.1A
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李文皓
马欢
张珩
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Institute of Mechanics of CAS
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Institute of Mechanics of CAS
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Priority to CN201410639955.1A priority Critical patent/CN104411009A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0852—Delays
    • H04L43/0864—Round trip delays

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  • Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The invention discloses a method for estimating loop time delay under remote operation. Loop time delay estimation can be finished by only analyzing existing running data without designing a specific inspection task. The method can be applied to time mark reference difference estimation in the presence of a time mark, and can be used for estimating a loop time delay reference value in the absence of the time mark. A loop time delay value can be estimated accurately, and the running state of a remote object at a correct moment can be predicted. According to the method for estimating the loop time delay under the remote operation, a large amount of data received in a time delay manner and prediction data without time delay are used for matching a response wave form by taking a time delay value as a variable. When the wave form is matched optimally, a corresponding translation time value is the loop time delay value.

Description

The method of estimation of the loop time delay under a kind of remote operation
Technical field
The present invention relates to the technical field of transfer of data and process, relate to the method for estimation of the loop time delay under a kind of remote operation particularly.
Background technology
In the process operated distant place object, because distance is large, transfer of data, forwarding elapsed time are long, cause, in terrestrial operation end operation-far-end field-responsive-this process of ground perception field condition, there is obvious time delay phenomenon.The stability of time delay to remote operating has material impact.
In order to overcome the impact of time delay, general employing sets up mathematical model in advance, the state that constantly Forecasting Object is current in operation, make terrestrial operation end can carry out continuous print operation on the basis of forecast state, and the presence states delayed during without the need to waiting for carry out next step operation again after arriving.
Obviously, time delay influence to be overcome better and carry out continued operation, the whether accurate of prediction is crucial key, the forecasting procedure that forecast accurately needs on the one hand, case propagation delays to be known accurately on the other hand, even if otherwise forecasting procedure is good again, also prediction error can be made larger owing to having estimated the wrong forecast moment.
It is a kind of that to solve the cognitive inaccurate way of time delay be allow distant place object and terrestrial operation end set up identical markers benchmark.Remote operating industry system and job space system have identical markers benchmark, and in mutual distant scene/remote operating data, insert corresponding timescale data with this benchmark.When adding transmission with markers benchmark in up instruction, can know when remote object receives and performs uplink time delay (uplink time delay is commonly defined as " and after switching target BS receive first upstream data bag time m-switching before source base station receive time of last upstream data bag ", time difference between this instruction is received herein) for terrestrial operation end issues instructions to far-end, equally, time remote object passes status data down, the moment of transmission can be added, the then terrestrial operation termination time receiving also can know to should status data time descending time delay (descending time delay is commonly defined as " and after switching target BS send first downlink data packet time m-switching before source base station send time of last downlink data packet ", time difference between this instruction is received herein) for far-end issues instructions to terrestrial operation termination.After uplink time delay and descending time delay all obtain, loop time delay can be known.The feasible basis of this method is that identical markers benchmark is accurate.But due to following problems, markers benchmark there will be difference, namely occurs markers reference difference.
First: any two clocks all can not be completely the same, and the time has been grown, and two clocks can exist error, accumulation constantly can expand the error between operating side and distant target two clocks for a long time.Secondly, after there is markers reference difference, due to the time delay that remote target and terrestrial operation end are intrinsic, both are had no idea constantly synchronously, and by means of only the transmission of time scale information, also cannot obtain markers reference difference and obtain size.Again, under long-term behavior, loop time delay to change (due to equipment aging, the change of transmission path or some accidents etc.), therefore utilizes loop time delay value in the past to carry out calibrating also very difficult.Finally, under some extreme cases, the clockwork of distant target may owing to damage or other reason can not be injected timescale data or stop timing, if now continue to use the cognitive time delay value that above-mentioned way cannot be correct.
Another kind of situation is exactly, due to design defect, do not use the way of above-mentioned time reference, only rely on default benchmark time delay value to predict, the time delay value that namely acquiescence one is predetermined is predicted, and does not measure time delay value, in this case, due to the change of basic time delay value after Long-Time Service, the default basic time delay used in predicting also can be made with actual time delay value to differ more and more far away, finally cause predicated error increasing.
Under the condition having time scale information, if reference time scale has deviation, on-the-spot current state is departed from by causing forecast state, as indicated with 1, job space system carries out action according to the markers order that remote operating end gauage is fixed, but due to the existence of markers fiducial error, the execution moment of each instruction and remote operating end estimate initial to perform the moment inconsistent, top line is the virtual condition under markers reference difference, compared with there is no the situation of markers fiducial error, its motion state shape is consistent, but Time Inconsistency, and remote operating end still forecasts with the reference time scale of oneself, its forecast state is inevitable different from the moment corresponding to current state.
Benchmark time delay value be time delay fluctuation around basic value, benchmark time delay value represents the basic case propagation delays in remote operating loop, the statistics of the time delay total value of the transmission normally worked in remote operating loop, forwarding, process, for special line loop, do not having under emergency case, in the short time, time delay fiducial value generally can not change; For network loop, time delay fiducial value may change.Under target condition sometimes, even if time delay fiducial value there occurs change, but owing to constantly can pass through comparison markers, forecast model according to the duration of the situation of change adjustment forward direction forecast of time delay, thus can mate the presence states of forecast distal end body.Without time target condition under, because the duration of forecasting model forward direction forecast is based on benchmark time delay value, even if therefore forecast is very accurate, but forecast is not the current state of site machinery arm, but site machinery arm is in the state in time delay datum drift moment, as shown in Figure 1.This impact is the same with there being the markers fiducial error impact effect under markers information condition.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, the method of estimation of the loop time delay under a kind of remote operation is provided, it can complete loop time delay without the need to designing specific inspection task by means of only the existing service data of analysis and estimate, both may be used for having the markers reference difference under markers condition to estimate, also may be used for estimating without the loop time delay fiducial value under markers condition, loop time delay value can be estimated exactly, the remote object running status of inscribing when can forecast correct.
Technical solution of the present invention is: the method for estimation of the loop time delay under this remote operation, by the data that the time delay of large sample receives, take time delay value as variable, with without the prediction data match responding waveform under time delay, when waveform obtains optimum Match, corresponding translation time value is loop time delay value.
It is variable that the present invention passes through with time delay value, with without the prediction data match responding waveform under time delay, thus achieve without the need to designing specific inspection task and loop time delay estimation can be completed by means of only the existing service data of analysis, both may be used for having the markers reference difference under markers condition to estimate, also may be used for estimating without the loop time delay fiducial value under markers condition, loop time delay value can be estimated exactly, the remote object running status of inscribing when can forecast correct.
Accompanying drawing explanation
Fig. 1 be without time target time delay reference difference and have the markers reference difference under markers on prediction error affect schematic diagram;
Before Fig. 2 shows certain Waveform Matching, (Fig. 2 is the effect of (Fig. 2 b) a) and after Waveform Matching;
Fig. 3 shows the time delay estimation condition of 1000 groups of Waveform Matching experiments;
Fig. 4 shows the time delay evaluated error situation of 1000 groups of Waveform Matching experiments;
Fig. 5 shows the flow chart of the method for estimation according to the loop time delay under remote operation of the present invention.
Embodiment
The method of estimation of the loop time delay under this remote operation, by the data that the time delay of large sample receives, take time delay value as variable, and without the prediction data match responding waveform under time delay, when waveform obtains optimum Match, corresponding translation time value is loop time delay value.
It is variable that the present invention passes through with time delay value, with without the prediction data match responding waveform under time delay, thus achieve without the need to designing specific inspection task and loop time delay estimation can be completed by means of only the existing service data of analysis, both may be used for having the markers reference difference under markers condition to estimate, also may be used for estimating without the loop time delay fiducial value under markers condition, loop time delay value can be estimated exactly, the remote object running status of inscribing when can forecast correct.
In addition, as shown in Figure 5, the method comprises the following steps particularly:
(1) corresponding forecasting model is set up for remote target;
(2) make i=0, i is integer;
(3)i++；
(4) obtain one group of complete control command sequence, under this control command sequence, from forecasting model, the joint of mechanical arm angular response sequences y obtained is forecast in emulation under without time delay condition s(1), y s(2) ..., y s(k), and through time delay the site machinery shoulder joint angular response sequences y that distally intended recipient arrives r(t 1), y r(t 2) ..., y r(t j);
(5) by the time delay estimated value T of these group data of Waveform Matching obtaining step (4), these group data comprise instruction, forecast model data, measured data containing time delay;
(6) judge whether i equals to specify numerical value, is perform step (7), otherwise perform step (3);
(7) process is averaged to the time delay estimated value T that number is i, obtain the estimated value of final loop time delay value.
In addition, first send one group of control command sequence in described step (4), forecasting model carries out forecasting without the emulation of time delay according to subsequence, then waits for and completes the real measured data receiving far-end.Or extract from recent data with existing in described step (4) and comprise instruction, forecast model data, data containing the measured data of time delay.
In addition, described step (5) comprises step by step following:
(5.1) preset a time delay and estimate initial value T0, determine the optimization range of time delay estimated value, T0 gets arbitrarily within the scope of this;
(5.2) adopt optimized algorithm to be optimized time delay estimated value T, optimizing index is formula (1):
T = arg min T Σ t = t 1 t k [ y R ( t - T ) - y s ( n ) ] 2 - - - ( 1 )
Wherein k represents the data amount check in these group data, y rfor the measured data in these group data, y sfor prediction data corresponding in these group data, T is time delay estimated value to be optimized, t 1t krespectively to the moment should organized data the 1st and receive to a kth measured data, n ∈ [1, k], is respectively numbering corresponding in prediction data sequence.Fig. 2 is the effect before certain Waveform Matching and after coupling.Fig. 3 shows the time delay estimation condition of 1000 groups of Waveform Matching experiments.Fig. 4 shows the time delay evaluated error situation of 1000 groups of Waveform Matching experiments.
In addition, the optimization range using 0-30s as time delay estimated value in described step (5.1).
In addition, in described step (5.2), linear search algorithm is genetic algorithm, particle cluster algorithm, climbing method or 2 point-scores.
Table 1 under giving different delay situation different sample size affect on the evaluated error of loop time delay fiducial value.
Table 1
As known from Table 1, when sample size increases, the estimation of loop time delay fiducial value is more accurate.After sample number reaches 500, within the evaluated error convergence 0.1s of benchmark time delay value.
The above; it is only preferred embodiment of the present invention; not any pro forma restriction is done to the present invention, every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all still belong to the protection range of technical solution of the present invention.

Claims (7)

1. the method for estimation of the loop time delay under a remote operation, it is characterized in that: the data received by the time delay of large sample, take time delay value as variable, and without the prediction data match responding waveform under time delay, when waveform obtains optimum Match, corresponding translation time value is loop time delay value.
2. the method for estimation of the loop time delay under remote operation according to claim 1, is characterized in that: the method comprises the following steps:
(1) corresponding forecasting model is set up for remote target;
(2) make i=0, i is integer;
(3)i++；
(4) obtain one group of complete control command sequence, under this control command sequence, from forecasting model, the joint of mechanical arm angular response sequences y obtained is forecast in emulation under without time delay condition s(1), y s(2) ..., y s(k), and through time delay the site machinery shoulder joint angular response sequences y that distally intended recipient arrives r(t 1), y r(t 2) ..., y r(t j);
(5) by the time delay estimated value T of these group data of Waveform Matching obtaining step (4), these group data comprise instruction, forecast model data, measured data containing time delay;
(6) judge whether i equals to specify numerical value, is perform step (7), otherwise perform step (3);
(7) process is averaged to the time delay estimated value T that number is i, obtain the estimated value of final loop time delay value.
3. the method for estimation of the loop time delay under remote operation according to claim 2, it is characterized in that: in described step (4), first send one group of control command sequence, forecasting model carries out forecasting without the emulation of time delay according to subsequence, then waits for and completes the real measured data receiving far-end.
4. the method for estimation of the loop time delay under remote operation according to claim 2, is characterized in that: extract from recent data with existing in described step (4) and comprise instruction, forecast model data, data containing the measured data of time delay.
5. the method for estimation of the loop time delay under the remote operation according to any one of claim 1-4, is characterized in that: described step (5) comprises step by step following:
(5.1) preset a time delay and estimate initial value T0, determine the optimization range of time delay estimated value, T0 gets arbitrarily within the scope of this;
(5.2) adopt optimized algorithm to estimate that initial value T is optimized to time delay, optimizing index is formula (1):
T = arg min T Σ t = t 1 t k [ y R ( t - T ) - y s ( n ) ] 2 - - - ( 1 )
Wherein k represents the data amount check in these group data, y rfor the measured data in these group data, y sfor prediction data corresponding in these group data, T is time delay estimated value to be optimized, t 1t krespectively to the moment should organized data the 1st and receive to a kth measured data, n ∈ [1, k], is respectively numbering corresponding in prediction data sequence.
6. the method for estimation of the loop time delay under remote operation according to claim 5, is characterized in that: the optimization range using 0-30s as time delay estimated value in described step (5.1).
7. the method for estimation of the loop time delay under remote operation according to claim 5, is characterized in that: in described step (5.2), linear search algorithm is genetic algorithm, particle cluster algorithm, climbing method or 2 point-scores.
CN201410639955.1A 2014-11-13 2014-11-13 Method for estimating loop time delay under remote operation Pending CN104411009A (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1876502A (en) * 2006-07-07 2006-12-13 中国科学院力学研究所 On-line correction method of satellite flight parameter
CN104015190A (en) * 2014-05-13 2014-09-03 中国科学院力学研究所 Robot remote control method and system under indeterminate bidirectional time delay condition
CN104020668A (en) * 2014-05-05 2014-09-03 中国科学院力学研究所 Predication method and device for motion state of mechanical arm under undetermined time delay condition

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1876502A (en) * 2006-07-07 2006-12-13 中国科学院力学研究所 On-line correction method of satellite flight parameter
CN104020668A (en) * 2014-05-05 2014-09-03 中国科学院力学研究所 Predication method and device for motion state of mechanical arm under undetermined time delay condition
CN104015190A (en) * 2014-05-13 2014-09-03 中国科学院力学研究所 Robot remote control method and system under indeterminate bidirectional time delay condition

Non-Patent Citations (1)

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Title
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Application publication date: 20150311