CN106028437B - A kind of Doppler's auxiliary underwater sensor method for synchronizing network time - Google Patents

A kind of Doppler's auxiliary underwater sensor method for synchronizing network time Download PDF

Info

Publication number
CN106028437B
CN106028437B CN201610289417.3A CN201610289417A CN106028437B CN 106028437 B CN106028437 B CN 106028437B CN 201610289417 A CN201610289417 A CN 201610289417A CN 106028437 B CN106028437 B CN 106028437B
Authority
CN
China
Prior art keywords
node
synchronized
time
information
beacon
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610289417.3A
Other languages
Chinese (zh)
Other versions
CN106028437A (en
Inventor
冯晓宁
王卓
朱晓龙
张文
蔡绍滨
曲立平
孟宇龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201610289417.3A priority Critical patent/CN106028437B/en
Publication of CN106028437A publication Critical patent/CN106028437A/en
Application granted granted Critical
Publication of CN106028437B publication Critical patent/CN106028437B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H04W56/0015—Synchronization between nodes one node acting as a reference for the others
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a kind of Doppler to assist underwater sensor method for synchronizing network time.The continuous broadcast message data packet of beaconing nodes, node to be synchronized constantly receive the information of beaconing nodes broadcast, the local zone time of node to be synchronized are recorded when receiving information every time, and calculate the relative velocity between beaconing nodes；Node to be synchronized calculates the frequency deflection of clock using the data being collected into；Node to be synchronized gives beaconing nodes one solicited message of transmission after calculating clock frequency deflection；After beaconing nodes receive the solicited message that node to be synchronized is sent, waits for a period of time send a response message to node to be synchronized at random；Node to be synchronized records local zone time when receiving the response message that beaconing nodes are sent, and calculation method calculates the relative velocity between beaconing nodes, and final clock-skew is calculated finally by the data of collection.The present invention can be reduced negative effect of the node motion to time synchronization, to improve timing tracking accuracy.

Description

Doppler-assisted underwater sensor network time synchronization method
Technical Field
The invention belongs to the field of underwater wireless sensor networks, and particularly relates to a Doppler assisted time synchronization method for an underwater sensor network.
Background
The underwater wireless sensor network has wide application prospect, not only has wide prospect in the aspects of industry, agriculture and the like, but also can be applied to the aspects of environment monitoring, disaster prevention, underwater survey and the like of chemical or biological indication. Time synchronization is one of the key issues in sensor networks, and different sensor nodes need to work together, which is very important for most tasks to be performed by wireless sensor networks, including target tracking, surveillance, bio-surveying, distributed beam forming, etc.
Aiming at the characteristic that underwater nodes have mobility, Chirdchoo N and the like propose an MU-Sync synchronization method, the whole network is divided into a plurality of clusters, information interaction is carried out on a cluster head and nodes in the clusters in a sending-receiving mode, and frequency deviation and phase deviation of the nodes to be synchronized are calculated through multiple times of information interaction. But when the node moves faster, the round-trip propagation delay is different, and the synchronization precision is influenced; in practical application, the algorithm needs more beacon nodes to be uniformly deployed, deployment cost of the sensor network is improved, a deployment scheme is easily influenced by an underwater environment, and flexibility and adaptability are lacked.
Li Z et al propose E for the characteristics of node movement affected by ocean currents2The DTS algorithm uses an Autonomous Underwater Vehicle (AUV) as a beacon node, and the AUV and the sensor node communicate in a single transmission mode and a transmission-reception mode, so that energy consumption is saved.
Disclosure of Invention
The invention aims to provide a Doppler assisted underwater sensor network time synchronization method capable of improving time synchronization precision.
A Doppler assisted underwater sensor network time synchronization method comprises the following steps,
the method comprises the following steps: the beacon node continuously broadcasts information data packets, and the data packets contain the information sending time of the beacon node;
step two: the node to be synchronized continuously receives the information broadcast by the beacon node, the local time of the node to be synchronized is recorded when the information is received each time, and the relative speed between the node to be synchronized and the beacon node is calculated by using a relative speed calculation method based on the Doppler principle;
step three: the node to be synchronized judges the number of the received information broadcasted by the beacon node, and if the number of the information is more than N, the next step is carried out; otherwise, returning to the previous step;
step four: the node to be synchronized calculates the frequency deviation of the clock by using the collected data;
step five: after the clock frequency skew is calculated by the nodes to be synchronized, a request message is sent to the beacon node, wherein the request message comprises the time T for the beacon node to send the request message1；
Step six: after receiving the request information sent by the node to be synchronized, the beacon node randomly waits for a period of time to send a response message to the node to be synchronized, wherein the response message comprises the time T for the node to be synchronized to send the request information1Receiving information time t of beacon node2And a transmission information time t3；
Step seven: and recording local time when the node to be synchronized receives the response information sent by the beacon node, calculating the relative speed between the node to be synchronized and the beacon node by using a relative speed calculation method based on the Doppler principle, and finally calculating the final clock phase deviation through the collected data.
The invention relates to a Doppler assisted underwater sensor network time synchronization method, which can also comprise the following steps:
1. calculating the relative velocity v between the node to be synchronized and the beacon node by using a relative velocity calculation method based on the Doppler principle, wherein the relative velocity v satisfies the following formula:
wherein, TtpIs the length of the transmitted data frame, TrpIs the received data frame length, and c is the speed of sound propagation underwater.
2. The frequency skew calculation process of the clock is as follows:
establishing the following functional relation between the time of the node to be synchronized and the standard time:
T[i]＝θ*(t[i]+td[i])+β
where i represents the propagation of the ith information and i ∈ [2, n ]]，t[i]Is the time of the ith transmission of information, Ti, by the beacon node]Is the local time, t, when the node to be synchronized receives the ith messaged[i]Is the propagation delay of the ith time of information, θ is the clock frequency skew, β is the initial phase offset of the clock;
establishing a relation between the distance between the beacon node and the node to be synchronized and the moving distance of the node:
wherein D isiUsing i-1 th data packetPropagation distance Di-1And T [ i ]]And T [ i-1]The value of the change in distance between the beacon and the node to be synchronized over a period of time, vsRepresenting the speed of propagation of the underwater sound, viRepresenting the relative speed of the beacon node and the node to be synchronized when the information of the (i-1) th time is received;
the frequency skew is found to be:
wherein,T[i]-T[i-1]＝θ(Δtd[i]+Δt[i])。
3. the process of solving the clock phase deviation is as follows:
the beacon node is represented by B, the node to be synchronized is represented by O, and is represented by PO(T1) Indicates that the node O is at T1Position of time, PB(t2) Indicates node B is at t2Position of time of day, propagation delay due to distance between node B and node O, dOB(T1,t2) For node O at T1Time and node B at t2Distance between moments, dOB(t3,T4) For node B at t3Time and node O at T4The distance between the moments of time, from which it is possible to obtain:
according to the change relation of the relative distance in the two information transmission processes, the following steps are obtained:
wherein v is1Representing the relative speed of the beacon node and the node to be synchronized when the response information is received;
the clock phase deviation is obtained as:
has the advantages that:
the invention calculates the relative speed between the nodes when receiving information each time by using the relative speed calculation method based on the Doppler principle, can reduce the negative influence of the node movement on the time synchronization, and thereby improves the time synchronization precision. Aiming at the problem that the movement of the nodes of the underwater sensor network affects the time synchronization precision, the invention calculates the relative speed between the beacon nodes and the nodes to be synchronized by utilizing the Doppler principle when receiving the beacon information every time, further calculates the distance change between the beacon nodes and the nodes to be synchronized, can accurately calculate the time spent by the information in the transmission process, and is better suitable for the complicated and changeable underwater environment.
Drawings
Figure 1 is a flow chart of doppler assisted time synchronization.
Fig. 2 is a schematic diagram of measuring data frame length at the receiving side.
Fig. 3 is a diagram of information interaction relationship between a beacon node and a node to be synchronized when calculating frequency skew.
Fig. 4 is a diagram of information interaction relationship between a beacon node and a node to be synchronized when phase deviation is calculated.
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings.
The invention aims to provide a Doppler assisted time synchronization method, which aims at solving the problem that the movement of an underwater sensor network node influences the time synchronization precision, calculates the relative speed between a beacon node and a node to be synchronized by utilizing the Doppler principle when receiving beacon information every time, further calculates the distance change between the beacon node and the node to be synchronized, can accurately calculate the time spent by the information in the propagation process, and is better suitable for a complex and changeable underwater environment.
The specific process of the invention is described in conjunction with FIG. 1:
(1) the beacon continuously broadcasts information data packets, and the data packets contain the time when the beacon sends information.
(2) The node to be synchronized continuously receives the information broadcast by the beacon node, the local time of the node to be synchronized is recorded when the information is received each time, the relative speed between the node to be synchronized and the beacon node is calculated by using a relative speed calculation method based on the Doppler principle, and after one-time information transmission, the data which can be collected by the node to be synchronized comprises the time sent by the beacon node, the local time when the information is received by the common node and the relative speed between the beacon node and the node to be synchronized.
(3) The node to be synchronized judges the number of the received information broadcasted by the beacon node, and if the number of the information is greater than N (the default value of N is 25), the next step is carried out; and if the number of the messages is less than N, returning to the previous step.
(4) The node to be synchronized calculates the clock skew (clock skew) using the collected data.
(5) And after the clock frequency skew is calculated by the nodes to be synchronized, sending a request message to the beacon node, wherein the message comprises the time for the beacon node to send the message.
(6) After receiving the information sent by the node to be synchronized, the beacon node randomly waits for a period of time to send a response message to the node to be synchronized, wherein the message comprises the time for the node to be synchronized to send a request message, and the time for the beacon node to receive the message and send the message.
(7) And recording local time when the node to be synchronized receives the response information sent by the beacon node, calculating the relative speed between the node to be synchronized and the beacon node by using a relative speed calculation method based on the Doppler principle, and finally calculating the final clock phase deviation through the collected data.
The invention discloses a Doppler assisted time synchronization method for an underwater sensor network, and belongs to the technical field of underwater wireless sensor networks. The method is characterized in that: the method is realized in an underwater sensor network according to the following steps: 1) and a clock skew (clock skew) calculation stage, wherein an AUV is used as a beacon node and periodically transmits a reference message, local time is recorded when a node to be synchronized receives information transmitted by the beacon node, the relative speed between the node and the beacon node is calculated by using a Doppler principle, and the clock skew is calculated through the data. 2) And a clock phase offset (clock offset) calculating stage, in which a node to be synchronized sends a request message after calculating the frequency offset, a beacon node receives the request message and sends a response message, and the node to be synchronized records the receiving time and calculates the relative speed by using the Doppler principle after receiving the response message, and calculates the clock phase offset (clock offset) according to the collected data.
A Doppler assisted underwater sensor network time synchronization method comprises the following steps:
(1) based on Doppler principle, the relative velocity calculation method comprises the following steps:
in underwater communication, the relative motion between a sender and a receiver causes the length of a data frame to change when the receiver receives information, and the length of the changed data frame can be measured through the Doppler principle, so that the relative speed between the sender and the receiver is calculated.
(2) A clock skew (clock skew) calculating step:
by using the mobile AUV as the beacon node, the AUV can obtain standard time from GPS or Beidou and periodically transmit reference information, wherein the information comprises the time when the beacon node transmits the information. And (3) receiving the information sent by the beacon node by the node to be synchronized, recording the local time of the node to be synchronized when the information is received, calculating the relative speed by using the method in the step (1), and calculating the clock skew (clock skew) after the node to be synchronized receives a certain amount of information.
(3) Calculating clock phase offset (clock offset) step:
after the frequency deviation is calculated by the nodes to be synchronized, a time is randomly selected to send request information, after the beacon node receives the information, the time for receiving the information is recorded, a piece of response information is sent at intervals, the response information comprises the time for sending the information by the nodes to be synchronized and the time for sending the information by the beacon node, after the nodes to be synchronized receive the response information, the receiving time is recorded, the relative speed is calculated by the method in the step (1), and the clock phase deviation (clockoffset) is calculated according to the collected data.
The AUV is adopted as a beacon node, and the Doppler principle is utilized to calculate the relative speed between the nodes, so that the time synchronization precision is improved.
The invention describes a Doppler assisted time synchronization method, which comprises the following steps:
(1) as shown in fig. 3, the beacon continuously broadcasts information packets, which include the time t when the beacon transmits information.
(2) The node to be synchronized continuously receives the information broadcast by the beacon node, the local time T of the node to be synchronized is recorded when the information is received each time, the relative speed between the node to be synchronized and the beacon node is calculated by using a relative speed calculation method based on the Doppler principle, and after one-time information transmission, the data which can be collected by the node to be synchronized comprises the time T sent by the beacon node, the local time T when the information is received by the common node and the relative speed v between the beacon node and the node to be synchronized.
The relative velocity calculation method based on the Doppler principle is described as follows:
in an underwater environment, the frequency change caused by the doppler effect is called doppler shift, which is proportional to the relative velocity, and the expression is:
wherein f istpIs the frequency of the transmitted signal, frpIs the frequency of the received signal, v is the relative velocity between the receiver and the sender, and c is the speed of sound propagation under water.
From the relationship between the period and the frequency, equation (1) can be simplified as:
wherein, TtpIs the length of the transmitted data frame, TrpIs the received data frame length.
Order toEquation (2) becomesThe length of the transmitted information data frame is known, and delta can be calculated only after the length of the received information data frame is measured. For this purpose, the receiving end is detected by a filter matched with the known waveform in the transmitted waveform signal, two peak values appear when the received information is output by the matched filter, and T can be obtained by measuring the length between the two peak valuesrpThe measurement schematic of the receiving party is shown in fig. 2. To findAfter Δ is obtained, the relative velocity can be calculated according to the formula v ═ Δ × c.
(3) The node to be synchronized judges the number of the received information broadcasted by the beacon node, and if the number of the information is greater than N (the default value of N is 25), the next step is carried out; and if the number of the messages is less than N, returning to the previous step.
(4) The node to be synchronized calculates the frequency skew (clock skew) of the clock by using the collected data, and the calculation process is as follows:
the time of the node to be synchronized and the standard time have the following functional relationship:
T[i]＝θ*(t[i]+td[i])+β (3)
where i represents the propagation of the ith information and i ∈ [2, n ]]，t[i]Is the time of the ith transmission of information, Ti, by the beacon node]Is the local time, t, when the node to be synchronized receives the ith messaged[i]Is the propagation delay of the ith information, θ is the clock frequency skew, and β is the initial phase offset of the clock.
The distance between the beacon node and the node to be synchronized and the moving distance of the node have the following functional relationship:
wherein D isiPropagation distance D with i-1 th data packeti-1And T [ i ]]And T [ i-1]The value of the change in distance between the beacon and the node to be synchronized over a period of time, vsRepresenting the speed of propagation of the underwater sound, viIndicating the relative speed of the beacon node and the node to be synchronized when the i-1 st information is received. The above formula is modified to obtain:
and because of T [ i]-T[i-1]＝θ(Δtd[i]+Δt[i]) Equation (6) is simplified as:
from equation (7), it can be seen that every two adjacent sets of data can be used to determine a value of θ, so that n (n)>1) N-1 values can be obtained by group data, and the final frequency skew is obtained by an averaging method:
(5) FIG. 4 shows that after the clock skew is calculated by the node to be synchronized, a request message is sent to the beacon, where the request message includes the time T for the beacon to send the message1。
(6) After receiving the information sent by the node to be synchronized, the beacon node randomly waits for a period of time to send a response message to the node to be synchronized, wherein the message comprises the time T for the node to be synchronized to send the request message1Receiving information time t of beacon node2And a transmission information time t3。
(7) Recording local time T when the node to be synchronized receives the response information sent by the beacon node4And calculating the relative velocity v between the beacon nodes by using a relative velocity calculation method based on the Doppler principle1And finally, calculating the clock phase deviation through the collected data, wherein the specific calculation process is as follows:
the specified beacon node is represented by B, the node to be synchronized is represented by O, and is represented by PO(T1) And PB(t2) Indicating that node O and node B are at T respectively1Time t and2the position of the time, the propagation delay being due to the distance between B and ODefinition of dOB(T1,t2) For node O at T1Time and node B at t2Distance between moments, dOB(t3,T4) For node B at t3Time and node O at T4The distance between the moments, from which the following equation can be derived:
according to the change relation of the relative distance in the two information transmission processes, the following steps are obtained:
wherein v is1The relative speed between the beacon node and the node to be synchronized when the response information is received is shown, and the formula (10) is arranged as follows:
the final clock phase offset (clock offset) is obtained by equation (11).
Through the steps, the frequency skew and the phase deviation of the clock can be calculated, so that the time of the node to be synchronized is calibrated.
The invention uses AUV as beacon node in the whole synchronization process, and estimates the relative speed between nodes by using a method based on Doppler principle in the whole synchronization process, thereby accurately obtaining the time required by information in the transmission process and being greatly helpful for finally calculating frequency deviation and phase deviation.

Claims (4)

1. A Doppler assisted underwater sensor network time synchronization method is characterized in that: comprises the following steps of (a) carrying out,
the method comprises the following steps: the beacon node continuously broadcasts information data packets, and the data packets contain the information sending time of the beacon node;
step two: the node to be synchronized continuously receives the information broadcast by the beacon node, the local time of the node to be synchronized is recorded when the information is received each time, and the relative speed between the node to be synchronized and the beacon node is calculated by using a relative speed calculation method based on the Doppler principle;
step three: the node to be synchronized judges the number of the received information broadcasted by the beacon node, and if the number of the information is more than N, the next step is carried out; otherwise, returning to the previous step;
step four: the node to be synchronized calculates the frequency deviation of the clock by using the collected data;
step five: after the clock frequency skew is calculated by the nodes to be synchronized, a request message is sent to the beacon node, wherein the request message comprises the time T for the beacon node to send the request message1；
Step six: after receiving the request information sent by the node to be synchronized, the beacon node randomly waits for a period of time to send a response message to the node to be synchronized, wherein the response message comprises the time T for the node to be synchronized to send the request information1Receiving information time t of beacon node2And a transmission information time t3；
Step seven: and recording local time when the node to be synchronized receives the response information sent by the beacon node, calculating the relative speed between the node to be synchronized and the beacon node by using a relative speed calculation method based on the Doppler principle, and finally calculating the final clock phase deviation through the collected data.
2. The doppler-assisted underwater sensor network time synchronization method of claim 1, wherein: calculating the relative velocity v between the node to be synchronized and the beacon node by using a relative velocity calculation method based on the Doppler principle, wherein the relative velocity v satisfies the following formula:
wherein, TtpIs the length of the transmitted data frame, TrpIs the received data frame length, and c is the speed of sound propagation underwater.
3. The doppler-assisted underwater sensor network time synchronization method of claim 2, wherein:
the frequency skew calculation process of the clock comprises the following steps:
establishing the following functional relation between the time of the node to be synchronized and the standard time:
T[i]＝θ*(t[i]+td[i])+β
where i represents the propagation of the ith information and i ∈ [2, n ]]，t[i]Is the time of the ith transmission of information, Ti, by the beacon node]Is the local time, t, when the node to be synchronized receives the ith messaged[i]Is the propagation delay of the ith time of information, θ is the clock frequency skew, β is the initial phase offset of the clock;
establishing a relation between the distance between the beacon node and the node to be synchronized and the moving distance of the node:
wherein, Δ DiPropagation distance D with i-1 th data packeti-1And T [ i ]]And T [ i-1]The value of the change in distance between the beacon and the node to be synchronized over a period of time, vsRepresenting the speed of propagation of the underwater sound, viRepresenting the relative speed of the beacon node and the node to be synchronized when the information of the (i-1) th time is received;
the frequency skew is found to be:
wherein,T[i]-T[i-1]＝θ(Δtd[i]+Δt[i])。
4. the Doppler assisted underwater sensor network time synchronization method according to claim 3, characterized in that:
the process of solving the clock phase deviation comprises the following steps:
the beacon node is represented by B, the node to be synchronized is represented by O, and is represented by PO(T1) Indicates that the node O is at T1Position of time, PB(t2) Indicates node B is at t2Position of time of day, propagation delay due to distance between node B and node O, dOB(T1,t2) For node O at T1Time and node B at t2Distance between moments, dOB(t3,T4) For node B at t3Time and node O at T4The distance between the moments of time, from which it is possible to obtain:
according to the change relation of the relative distance in the two information transmission processes, the following steps are obtained:
wherein v is1Representing the relative speed of the beacon node and the node to be synchronized when the response information is received;
the clock phase deviation is obtained as:
CN201610289417.3A 2016-05-04 2016-05-04 A kind of Doppler's auxiliary underwater sensor method for synchronizing network time Active CN106028437B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610289417.3A CN106028437B (en) 2016-05-04 2016-05-04 A kind of Doppler's auxiliary underwater sensor method for synchronizing network time

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610289417.3A CN106028437B (en) 2016-05-04 2016-05-04 A kind of Doppler's auxiliary underwater sensor method for synchronizing network time

Publications (2)

Publication Number Publication Date
CN106028437A CN106028437A (en) 2016-10-12
CN106028437B true CN106028437B (en) 2019-06-14

Family

ID=57081144

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610289417.3A Active CN106028437B (en) 2016-05-04 2016-05-04 A kind of Doppler's auxiliary underwater sensor method for synchronizing network time

Country Status (1)

Country Link
CN (1) CN106028437B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106231669B (en) * 2016-08-31 2020-01-31 合肥工业大学 Method for time synchronization of wireless sensor network
CN110446259B (en) * 2018-05-04 2022-04-15 大唐移动通信设备有限公司 Position determination method of paging opportunity and communication equipment
CN109068385B (en) * 2018-09-14 2020-11-06 西北工业大学 Underwater wireless network time synchronization method with fault tolerance
CN110784920A (en) * 2019-09-17 2020-02-11 天津大学 Time synchronization and multiple access fusion method between underwater gliders
CN110958560B (en) * 2019-11-25 2021-05-07 深圳市智慧海洋科技有限公司 Underwater sound positioning method and device, storage medium and computer equipment
CN113645683B (en) * 2021-10-14 2021-12-24 昂科信息技术（上海）股份有限公司 Crystal oscillator self-adaptive clock synchronization method and system
CN114173168A (en) * 2021-11-17 2022-03-11 中国船舶重工集团公司第七一九研究所 Acoustic system and method for realizing time synchronization of physical isolation information system
CN115278860B (en) * 2022-08-05 2023-04-25 哈尔滨工程大学 Time synchronization method based on Doppler assistance

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101320090A (en) * 2008-07-15 2008-12-10 浙江大学 Wireless sensor network ranging method facing round-trip time of time asynchronous node
CN103889046A (en) * 2014-04-09 2014-06-25 青岛科技大学 Network time synchronization method for underwater sensor
CN105490755A (en) * 2014-10-10 2016-04-13 宁波中国科学院信息技术应用研究院 Underwater acoustic sensor network time synchronization method adapting to mobility

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5894450A (en) * 1997-04-15 1999-04-13 Massachusetts Institute Of Technology Mobile underwater arrays

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101320090A (en) * 2008-07-15 2008-12-10 浙江大学 Wireless sensor network ranging method facing round-trip time of time asynchronous node
CN103889046A (en) * 2014-04-09 2014-06-25 青岛科技大学 Network time synchronization method for underwater sensor
CN105490755A (en) * 2014-10-10 2016-04-13 宁波中国科学院信息技术应用研究院 Underwater acoustic sensor network time synchronization method adapting to mobility

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
水下传感器网络时间同步技术综述;洪锋，张玉亮等;《电子学报》;20130801;全文
水下传感器网络研究挑战与探索;杜秀娟;《青海师范大学学报（自然科学版）》;20151109;全文

Also Published As

Publication number Publication date
CN106028437A (en) 2016-10-12

Similar Documents

Publication Publication Date Title
CN106028437B (en) A kind of Doppler's auxiliary underwater sensor method for synchronizing network time
US20240069147A1 (en) Method and system for multipath reduction for wireless synchronization and/or locating
Yoon et al. Cooperative search and survey using autonomous underwater vehicles (AUVs)
Li et al. E2DTS: An energy efficiency distributed time synchronization algorithm for underwater acoustic mobile sensor networks
Kwak et al. A new double two-way ranging algorithm for ranging system
KR101182861B1 (en) Distance measuring method
Liu et al. JSL: Joint time synchronization and localization design with stratification compensation in mobile underwater sensor networks
CN105959914B (en) Sensor Network time synchronization and positioning combination treatment method based on time difference measurements
JP2005140617A5 (en)
CN104053223A (en) Low-power wireless sensor network time synchronization method
Yi et al. ToA-TS: Time of arrival based joint time synchronization and tracking for mobile underwater systems
CN105323029A (en) Dynamic clock synchronization method for underwater acoustic communication based on acoustic link distance measurement and speed measurement
US20110268155A1 (en) Distance estimation apparatus, system and method using ranging counter
Zhou et al. APE-Sync: An adaptive power efficient time synchronization for mobile underwater sensor networks
KR101304849B1 (en) Wireless positioning server using clock offset compensation and wireless positioning method using the same
CN110850364A (en) UWB positioning method for eliminating antenna delay error
KR20110019196A (en) Location estimation method using effective asynchronous two-way ranging with frequency offset compensation in wireless networks
CN105490755A (en) Underwater acoustic sensor network time synchronization method adapting to mobility
CN118265136A (en) Underwater passive target co-positioning method
EP3692386B1 (en) System and method to enhance ranging resolution for localization of a lora sensor or device
CN116506802A (en) Underwater node time synchronization method for distributed ocean flow field acoustic measurement
Yi et al. Joint time synchronization and tracking for mobile underwater systems
WO2004034619A3 (en) System and method for rate agile adaptive clocking in a packet-based network
US20220385519A1 (en) MOBILE DEVICE FREQUENCY OFFSET DETERMINATION AND TDoA LOCALIZATION
Kim et al. TDoA-based practical localization using precision time-synchronization

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant