CN107295624A - Node synchronization method and the node using this method - Google Patents
Node synchronization method and the node using this method Download PDFInfo
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- CN107295624A CN107295624A CN201610191084.0A CN201610191084A CN107295624A CN 107295624 A CN107295624 A CN 107295624A CN 201610191084 A CN201610191084 A CN 201610191084A CN 107295624 A CN107295624 A CN 107295624A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W56/003—Arrangements to increase tolerance to errors in transmission or reception timing
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Abstract
The present disclosure proposes a kind of cooperative system.The cooperative system includes multiple nodes being connected with each other by the second communication link, wherein described node connects source synchronization node by the first communication link, so that at least one node in the system from first communication link after initial sync signal is received, by being synchronized between second communication link and all nodes so that all nodes in the system work asynchronously.In addition, the disclosure also proposed the node in the cooperative system and the signal synchronizing method performed in node and system.
Description
Technical field
This disclosure relates to which communication field, relates more specifically to make each node synchronous working in system
Method and the node using this method.
Background technology
In modern communication technology, synchronization module is one of nucleus module of each communication system,
It is that other each modules in system feed correct clock signals, to enable modules
Enough co-ordinations.Therefore need design and realization to synchronization module to give to pay special attention to.It is synchronous
Technology can be applied to different fields, for example：Communication, navigation and positioning, data transfer
Deng.With the development of wireless technology, synchronization module generally realizes that this is just using wireless devices
Need to realize based on a good synchronization mechanism, and then corresponding service is provided.
The content of the invention
The technical problem to be solved
The simultaneous techniques that current synchronization module is used is essentially all the wireless biography of wireless devices itself
Defeated characteristic, but would generally be influenceed by factors such as facility environments, causes synchronous be not responding to or together
Walk error big.For example, due to the interference in wireless environment, node may missing inspection wireless synchronization
Signal, leads to not be normally carried out synchronous working.In another example, in wired communication environment, by
Increasing suddenly in network traffics causes synchronizing signal to be lost on the transmit path so that node can not
Wired synchronization signal is received, equally also leads to not be normally carried out synchronous working.
The solution of problem
Should there is provided the node synchronization method according to the disclosure and use in order to solve the above problems
The node of method.
According to the first aspect of the disclosure, it is proposed that a kind of cooperative system.The cooperative system includes
Multiple nodes being connected with each other by the second communication link, wherein the node passes through the first communication
Link connection source synchronization node, so that at least one node in the system is from described first
Communication link is received after initial sync signal, passes through second communication link and all nodes
Between synchronize so that in the system all nodes synchronous working.
In certain embodiments, the source synchronization node connects the system by the first communication link
The node of system.In certain embodiments, the node is positioning node.
In addition, according to the second aspect of the disclosure, there is provided a kind of node of cooperative system.Should
Node connects source synchronization node by the first communication link, and can be connect from the source synchronization node
Initial sync signal is received, and is connected with each other by the connection of the second communication link in the cooperative system
Other nodes it is synchronous with other nodes with the redundant synchronization signals according to second communication link
Work.
In certain embodiments, the node is positioning node.
In addition, according to the third aspect of the disclosure, there is provided a kind of letter of cooperative system interior joint
Number synchronous method.This method includes：When receiving initial sync signal from the first communication link,
Judge whether there is redundant synchronization signals on second communication link, if without if described
Redundant synchronization signals are sent on two communication links.
In certain embodiments, the node is positioning node.
In addition, synchronous there is provided a kind of signal of cooperative system according to the fourth aspect of the disclosure
Method.This method includes：Node in the system receives initial same from the first communication link
When walking signal, judge whether there are redundant synchronization signals on second communication link, if do not had
Then redundant synchronization signals are sent on second communication link；All nodes in the system
Worked asynchronously when receiving the redundant synchronization signals by second communication link.
In certain embodiments, the node of the cooperative system is positioning node.In some implementations
In example, all nodes in the system received by second communication link it is described superfluous
Work asynchronously, specifically include during remaining synchronizing signal：When all nodes or default part of nodes are logical
Timing simultaneously when second communication link receives the redundant synchronization signals is crossed to be positioned.
The technique effect realized
, can be for tool by using the system of the embodiment of the present disclosure, node and/or correlation method
The equipment for having synchronizing function uses redundant signal reception trigger mechanism, so as to realize sane high-precision
Spend time synchronized.
Brief description of the drawings
By illustrating preferred embodiment of the present disclosure below in conjunction with the accompanying drawings, the above-mentioned of the disclosure will be made
And other objects, features and advantages are clearer, wherein：
Fig. 1 is the schematic diagram for the exemplary architecture for showing the synchronization system according to the embodiment of the present disclosure.
Fig. 2 is the exemplary architecture for showing the alignment system using the synchronization system shown in Fig. 1
Schematic diagram.
Fig. 3 is to show to make the node same according to being used for of performing at node of the embodiment of the present disclosure
Walk the flow chart of the exemplary method of work.
Fig. 4 is to show the example for being used to perform method shown in Fig. 3 according to the embodiment of the present disclosure
The block diagram of node.
Embodiment
It is understood in advance that：Although the reality of one or more other embodiments of the present disclosure is provided below
It is existing, but any technology can essentially be used (either currently known is still existing)
To realize disclosed equipment and/or method.The disclosure should not be limited in any way by following theory
Bright illustrative realization including example design shown and described herein and including realizing, accompanying drawing
And technology, but this public affairs can be changed in the range of appended claims and its equivalent thing
Open.
Further it is to be noted that：Although describing some specific embodiments below, these are not represented
Specific embodiment is the minimum/optimal case for realizing the disclosure.In other words, these realities can be used
The some technical characteristics in example are applied as a complete technical scheme, it would however also be possible to employ these realities
Apply the skill that other unaccounted of equal value, replacements, alternative technique feature are combined with the disclosure in example
Art scheme is used as a complete technical scheme.Therefore, the protection domain of the disclosure is not limited to this
A little specific embodiments, but covering those skilled in the art can make according to the training centre of the disclosure
Various modifications, replacement, addition, deletion etc..
Before formally description embodiment of the disclosure, hereinafter may it will introduce first
The term used.These terms are used to help those skilled in the art's scheme of this disclosure and carried out
Comprehensive and thorough explanation.Therefore, unless context separately clear stipulaties, otherwise term should
It is identical with the implication that those skilled in the art usually understand, without should too stick to its word
Look like or excessively understood in face.
As used in this disclosure, term " node " is often referred to hardware device, for example：Eventually
End, mobile phone, tablet personal computer, notebook computer, desktop computer, set top box, base station, access point,
Radio network controller etc..In addition, " node " can also refer to each yuan in single hardware device
Part, module etc., for example, USB (USB) equipment, PCI (peripheral control interface)
(center processing is single by equipment, PCI-E device, AGP (AGP) equipment, CPU
Member), memory, power supply, clock etc..More generally, in any communication system or any calculating
In system, in every scene in the presence of the two or more hardware for needing to be communicated, communicated
Each side can be referred to as " node ".In this sense, for example, mobile phone and base station can be with
It is considered as node, GPS module and satellite can also be considered as node.In addition, in computer
CPU, hard disk, clock etc. be considered node.
As it was previously stated, in order that can be cooperated, it is necessary to these between each node in system
Node is synchronized.As it is used herein, term " clock the is synchronous " system of being often referred to has been
The synchronous working carried out required for into each equipment (node) of specific function.Herein, when
Clock can synchronously refer to is subject to synchronization by the respective local clock of each node.Alternatively, clock is synchronous
It can also refer to and synchronization be not subject to the respective local clock of each node, and only make each node in the fact
It is upper simultaneously or it is approximate simultaneously synchronize action.In other words, each node can be local at each
In the case of clock is nonsynchronous, actual simultaneously operating is realized.
As it is used herein, term " redundant synchronization signals trigger mechanism " refers to work as any one
Individual node receives in standby mode and (is also known as source synchronization node or signal source section from Centroid
Point) synchronizing signal after, signal can be sent and go to notify the mechanism that synchronizes of miscellaneous equipment.Class
As, a certain node that term " many synchronizing functions " refers to possess the function is both synchronizing signal
Active sender, be the passive recipient of synchronizing signal again.In addition, as it is used herein,
Term " synchronization module " typically refers to be used to realize that clock is same in equipment (node) to be synchronized
Walk the module (can be hardware, software, firmware or their various combinations) of function.
In addition, in the context of the disclosure, similar to " first ", " second " or the like
Ordinal number is not used in the term modified it and carries out the restriction of technical elements, and is only used for distinguishing not
Same object.For example, " first node " can be two similar nodes with " Section Point ",
Possess same or analogous function, structure etc..In other words, " first node " can also be claimed
For " Section Point ", or " Section Point " is referred to as " first node ".
Generally, some embodiments of the present disclosure are related to a kind of redundant signal reception trigger mechanism.
The substantially flow of the redundant signal reception trigger mechanism is：(1) source synchronization node (for example, in
Center station) transmitting synchronizing signal；(2) it is same that the synchronization module for each node to be worked asynchronously receives source
Walk the synchronizing signal of node, and launch redundant synchronization signals with trigger remaining node it is synchronous (with
Prevent some or some nodes from not receiving the synchronizing signal of source synchronization node), while detecting that remaining is saved
The redundant synchronization signals that point may be sent；And (3) each node after synchronously triggering according to predetermined
Configuration is started working.In the redundant signal reception trigger mechanism.It is synchronous in the mechanism
Node both can be synchronizing signal passive recipient, can be again synchronizing signal active hair
Play person.
Each node can be provided with least two triggering modes.A kind of triggering mode can come
From the first communication link (for example, wireless channel：Such as WiFi, bluetooth, infrared, radio frequency；
Or wire message way：Such as Ethernet, various buses (PCI, USB)) signal, it is and another
A kind of triggering mode can be (for example, wireless channel from the second communication link：Such as WiFi,
Bluetooth, infrared, radio frequency etc.；Or wire message way：Such as Ethernet, various buses (PCI,
USB) etc.).In certain embodiments, the first communication link can be and the second communication link phase
The communication link of same or similar type, or be even exactly same communication link.However,
In other embodiments, the first communication link can be different types of logical with the second communication link
Believe link.Further, it is also possible to the combination with other triggering modes or various modes.
For example, in some embodiments of central station (source synchronization node) using wireless synchronization,
Another wireless and/or wire signal can be produced accordingly by first receiving the node of wireless synchronization signal, and
The redundant synchronization signals are sent on wireless and/or wired synchronization signal line (the second communication link)
The other nodes gone on announcement trunk are synchronized.In addition, pipe node is received from center
The wireless synchronization signal stood still receives the wired redundancy synchronizing signal from other nodes, all may be used
To make sync response.
Next, the synchronization system according to the embodiment of the present disclosure is described in detail by Fig. 1 is combined
1000 exemplary architecture.Fig. 1 is the example for showing the synchronization system 1000 according to the disclosure
The schematic diagram of framework.As shown in figure 1, synchronization system 1000 can include multiple node 100a~
100d (hereinafter, when not distinguishing especially, they are referred to as node 100) and source
Synchronization node 200.For the sake of clarity, illustrate only in figure 4 node 100a~100d and
1 source synchronization node 200, but the disclosure is not limited thereto, and can include two or more numbers
Destination node 100 and/or source synchronization node 200 etc..
Node 100 and source synchronization node 200 can be communicated by various communication links.Such as
Upper described, the example of communication link can include but is not limited to：WLAN, bluetooth, it is infrared,
Radio frequency etc..As described above, it can be provided between node 100 and source synchronization node 200
First communication link 310.In addition, the example of communication link can also include but is not limited to：
Ethernet, various buses (PCI, USB etc.) etc., its can node 100a~100d it
Between the second communication link 320 is provided.
However, disclosure not limited to this.Actually the first communication link 310 and the second communication chain
Road 320 is only illustrated examples.For example, can essentially be by the first communication link 310 and
Two communication links 320 are exchanged.In addition, the first communication link 310 and the second communication link
320 can also be various types of communication links, including but not limited to：Mobile communications network
(2G, 3G, 4G, 5G, WiMAX etc.), wireline communication network (xDSL, optical fiber, have
Line television network etc.), other communication systems.However, it is succinct for explanation, will be main below
Illustrate that the first communication link 310 is radio frequency link and the second communication link 320 is that common signal is total
The example application scenarios of line.
More specifically, the disclosure will need synchronous some nodes 100 to be designed to that redundant synchronization is believed
Number triggering framework, i.e., the synchronization module of each node 100 has many synchronizing functions, using superfluous
Remaining synchronizing signal trigger mechanism completes the synchronization between node 100.Each node 100 can possess
At least one synchronization module.With being described above what is mutually echoed, this synchronization module can be provided simultaneously with
Wireless receiving and dispatching and wired transmission-receiving function, the reception to source synchronizing signal can use wirelessly or non-wirelessly mould
Formula, reception/transmission to redundant synchronization signals can use wirelessly or non-wirelessly pattern.Certainly, this public affairs
Embodiment not limited to this is opened, the synchronization module can also only possess radio transmission-receiving function, or only have
Line transmission-receiving function is had, as long as it can handle two communication links simultaneously (for example, first is logical
Believe the communication link 320 of link 310 and second).In addition, embodiment described below
In, main description node 100 is possessed to the scene of single synchronization module.However, the disclosure is real
Apply a not limited to this, actually its may be equally applicable for node 100 possess it is multiple each other
The scene of the synchronization module of autonomous working.
In Fig. 1 example shown scenes, each node 100a~100d passes through common signal bus (
Two communication links) 320 be connected.When such as first node 100a passes through the first communication link 310
When receiving the initial sync signal from source synchronization node 200, it can synchronously be believed based on this
Number synchronize operation.For example, first node 100a can be with substantially simultaneously receiving this simultaneously
Other nodes (Section Point 100b~100d) of initial sync signal send positioning signal together,
To facilitate other nodes (for example, destination node 150 shown in Fig. 2) basis for needing to position
These positioning signals are positioned and (position fixing process are described in detail below with reference to Fig. 2).
In addition, when first node 100a receives initial sync signal, it may determine that in common signal
In bus 320 with the presence or absence of indicate in other Section Point 100b~100d at least one second
Node receives the signal of initial sync signal.
For example, when a certain Section Point 100b receives initial sync signal, it will can be somebody's turn to do
High level in common signal bus 320 is down for low level.So, the low electricity can be passed through
Flat (being used as redundant synchronization signals) notify other nodes (for example, node 100a, 100c and
100d) synchronize operation.
From the above, when first node 100a receives initial sync signal, it can detect public affairs
Whether the level on signal bus 320 is low level altogether.If low level, it can be accordingly
Synchronize operation.Alternatively, first node 100a can also be simultaneously according to from the first communication
The initial sync signal of link 310 and from the second communication link (common signal bus) 320
Redundant synchronization signals (for example, low level) synchronize operation.
If the level that first node 100a detects in common signal bus 320 is high level,
It can be determined that from as first node 100 for receiving the synchronizing signal, and by common signal
Level in bus 320 is dragged down, to notify other nodes (Section Point 100b~100d) to enter
Row simultaneously operating.
Certainly, first node 100a redundant synchronization operation not limited to this.For example, logical second
In the case that letter link 320 is Radio Link (for example, WiFi, bluetooth etc.), first node
100a can also be broadcasted the Radio Link, notify other second by way of multicast or unicast
Node 100b~100d goes to synchronize operation.In this case, first node 100a can be with
The redundant synchronization signals from other nodes on the second communication link 320 need not be detected.More typically
Ground, even if by the way of such as common signal bus above, or any other wired or nothing
Line communication link, first node 100a can also be not being detected from other nodes 100b~100d
Redundant synchronization signals in the case of, to broadcast, in the way of multicast or unicast to other nodes
Any of 100b~100d or multiple nodes send the redundant synchronization signals of their own.In view of logical
Letter link generally supports unicast transmission mode, as long as therefore the second communication link 320 is support
The communication link of broadcast and/or multicast is (for example, radio frequency link, WiFi links, ether network chain
Road, USB link, bus links etc.), you can to remaining in the way of with broadcast and/or multicast
Node sends redundant synchronization signals.Because current most of network supports IP agreement, in IP
In agreement, only redundant synchronization signals need to be sent to broadcast address, then in theory in the same network segment
All nodes can receive the redundant synchronization signals, be in what manner but regardless of the network segment
Set up, such as wired, wireless or its certain combination.
Please note：Description above for first node 100a can equally be well applied to other second sections
Any one in point 100b~100d.
In the aspect of performance of the synchronization scenario, for example, it is assumed that the error rate of wireless synchronization mode is
1%, and the error rate of wired synchronization system is 0, and current number of nodes to be synchronized is n.
Only with wireless synchronization under traditional mode, single device error rate is 1%.
And in the system after improvement, it is assumed that synchronization module quantity is 1 in each equipment, then goes out
Error rate is as shown in the table：
| Initial synchronisation mode | Redundant synchronization mode | Single device error rate |
| Wirelessly | Wirelessly | 1% n powers |
| Wirelessly | It is wired | 1% n powers |
| It is wired | It is wired or wireless | 0 |
In addition, as it was previously stated, each node can possess multiple synchronization modules.It is multiple possessing
In the case of synchronization module, due to can be worked independently of one another between each synchronization module, therefore
The situation of missing inspection or flase drop synchronizing signal in synchronization can further be reduced.In fact, it is assumed that
In the case that synchronization module quantity is m in each equipment, its error rate is as shown in the table：
| Initial synchronisation mode | Redundant synchronization mode | Single device error rate |
| Wirelessly | Wirelessly | 1% (n*m) power |
| Wirelessly | It is wired | 1% (n*m) power |
| It is wired | It is wired or wireless | 0 |
It can be seen that, it is by that according to the operation of the redundant synchronization of the embodiment of the present disclosure, can greatly improve
The accuracy and stability of each node synchronous working in system.Although in addition, essentially describing above
Each node possesses two kinds of synchronization means (that is, initial sync signal and redundant synchronization signals)
Scene, but disclosure not limited to this.In fact, when node possesses three kinds or more
During synchronization means, the scheme of the embodiment of the present disclosure can also be equally used.For example, except first
Outside the communication link 320 of communication link 310 and second, can also possess third communication link,
Fourth communication link etc., so as to further ensure that synchronous robustness and accuracy.
Next, reference picture 2 is described in detail using according to Fig. 1 example shown synchronization systems
The exemplary architecture of 1000 alignment system 2000.
In fig. 2, central station (source synchronization node) 200 can be with embodiment illustrated in fig. 1 one
Sample is used as the time by the first communication link 310 (for example, radio frequency link) transmitting radiofrequency signal
Reference signal (initial sync signal), to indicate beaconing nodes group 100a~100c and target section
Point 150 starts synchronous working.In the example in figure 2, beaconing nodes group 100a~100c
Different nodes are shown as with destination node 150, but disclosure not limited to this.At some
In embodiment, destination node 150 itself can also be actually one of beaconing nodes, and it also may be used
To synchronize work together with other beaconing nodes 100 using manner as described above.
Next, beaconing nodes group 100 and destination node 150 receive initial sync signal and opened
Beginning timing.In the example in figure 2, beaconing nodes group 100a~100c is actually represented respectively
One group node, inside every group of beaconing nodes, can using the method for synchronization described above and/
Or other various methods of synchronization.But for the purpose of simplifying the description, will they with identical accompanying drawing mark
Remember to indicate and be regarded as single beaconing nodes.For example, in certain embodiments, each beacon
Main synchronization node in node group 100 receives initial sync signal, while synchronous letter can be generated
Number notify with organize each beaconing nodes realize it is synchronous.But in further embodiments, except main same
Walk node to receive outside initial sync signal, other each beaconing nodes or one part can also connect
Initial sync signal is received to carry out initial synchronisation.
After beaconing nodes (group) 100 and the synchronization of destination node 150, beaconing nodes 100
Positioning signal can be launched, and destination node 150 can receive the positioning signal.In target section
The processor of point 150 calculates the arrival of the positioning signal of at least three beaconing nodes 100 transmitting
After time (Δ t is designated as respectively1、Δt2、Δt3), it can be according to location algorithm (for example, " three
Ball intersects method " or " triangulation location ") positions calculations are carried out, to determine itself relative to known
The distance of at least three beaconing nodes 100 of coordinate, and and then finally determine that the position of itself is sat
Mark.
, can be more accurate and more stable by using the redundant synchronization scheme of the embodiment of the present disclosure
Destination node 150 is positioned.
Fig. 3 be show according to the embodiment of the present disclosure performed in node 100 be used for and it
The flow chart of the method 400 of its node synchronous working.As shown in figure 3, method 400 can be wrapped
Include step S410 and S420.According to the disclosure, some steps of method 400 can individually be held
Row or combination are performed, and can be performed parallel or order execution, it is not limited to shown in Fig. 3
Concrete operations order.In certain embodiments, the node that method 400 can be as shown in Figure 1
Node (group) 100a~100c shown in 100a~100d and/or Fig. 2, any of 150 are come
Perform.
Fig. 4 is to show being used for and showing that other nodes work asynchronously according to the embodiment of the present disclosure
The block diagram of example node 100.As shown in figure 4, node 100 can include：Synchronous signal receiver
Unit 110 and synchronous working execution unit 120.
Synchronous Signal Receiver Unit 110 can be used for synchronous from source by the first communication link 310
Node 200 receive initial sync signal and/or by the second communication link 320 from least one the
Two nodes receive redundant synchronization signals.Synchronous Signal Receiver Unit 110 can be node 100
CPU (CPU), digital signal processor (DSP), microprocessor, microcontroller
Device etc., it can be with the communications portion of node 100 (for example, radio receiving-transmitting unit, ether
Network interface card, xDSL modems etc.) it is engaged, it is same from source by the first communication link 310
Step node 200 receives initial sync signal and/or passes through the second communication link 320 from least one
Section Point receives redundant synchronization signals.
Synchronous working execution unit 120 can be used for same based on initial sync signal and/or redundancy
Signal is walked, is worked asynchronously with least one Section Point.Working asynchronously execution unit 120 can be with
It is the CPU (CPU) of node 100, digital signal processor (DSP), micro- place
Device, microcontroller etc. are managed, it can be with the other parts of node 100 (for example, communication unit
Point, storage part grades) be engaged, based on initial sync signal and/or redundant synchronization signals, with
At least one Section Point works asynchronously.For example, sending for determining that destination node 150 is positioned
Position reference signal (for example, in beaconing nodes 100a~100c shown in Fig. 2), Huo Zhejie
Receive this location reference signals and determined self-position (for example, shown in Fig. 2 according to it
In destination node 150).
In addition, node 100 can also include other units not shown in Fig. 4, such as redundancy
Signal transmitting unit, positioning signal reception unit, position calculation unit etc..In some embodiments
In, redundant signals transmitting element can be used for by the second communication link at least one second section
Point sends redundant synchronization signals, and redundant synchronization signals are produced based on initial sync signal, are used
In instruction, at least one Section Point works asynchronously with first node.In certain embodiments, it is fixed
Position signal receiving unit can be used for receiving the positioning signal respectively from least three other nodes.
In certain embodiments, position calculation unit can be used for calculating first segment based on positioning signal
The position of point.
Below with reference to Fig. 3 and Fig. 4, held to according to embodiments of the present invention on node 100
The capable method 400 and node 100 that are used for node synchronization is described in detail.
Method 400 starts from step S410, in step S410, can be by node 100
Synchronous Signal Receiver Unit 110 is received by the first communication link 310 from source synchronization node 300
Initial sync signal and/or by the second communication link 320 from least one Section Point receive
Redundant synchronization signals.
In the step s 420, it can be based on by the synchronous working execution unit 120 of node 100
Initial sync signal and/or redundant synchronization signals, work asynchronously with least one Section Point.
In certain embodiments, if in step S410 by the first communication link 310 from
Source synchronization node 200 receives initial sync signal, and is not through the second communication link 320
Redundant synchronization signals are received from any Section Point, then method 400 can also include：S415
Redundant synchronization signals, redundancy are sent at least one Section Point by the second communication link 320
Synchronizing signal be based on initial sync signal produce, for indicate at least one Section Point with
First node works asynchronously.
In certain embodiments, at least one Section Point can include one of the following：Will
Remaining node in all nodes of synchronous working in addition to first node；Or to work asynchronously
All nodes in belong to remaining node of same synchronization group with first node.
In certain embodiments, the first communication link 310 can be with the second communication link 320
Different communication links.
In certain embodiments, if same from source by the first communication link in step S410
Step node 200 receives initial sync signal, then method 400 can also include：(S415’)
Redundant synchronization signals, redundancy are sent at least one Section Point by the second communication link 320
Synchronizing signal be based on initial sync signal produce, for indicate at least one Section Point with
First node 100 works asynchronously.
In certain embodiments, redundant synchronization signals can be sent/be received by broadcast mode.
In certain embodiments, method 400 can also include after step S420：(S430)
Receive the positioning signal respectively from least three other nodes；And (S440) is based on positioning
Signal calculates the position of first node 100.
In addition, some embodiments of the present disclosure can be summarized with following manner：
According to some embodiments, there is provided a kind of cooperative system (1000,2000).The collaboration system
Unite (1000,2000) can include it is multiple by the second communication link (320) be connected with each other
Node (100a~100d, 150), its interior joint (100a~100d, 150) can pass through
One communication link (310) connection source synchronization node (200), so that at least one section in system
Point (100a) from the first communication link (310) after initial sync signal is received, Ke Yitong
Cross between the second communication link (320) and all nodes (100b~100d, 150) and carry out together
Step is so that all nodes (100a~100d, 150) in system (1000,2000) can be same
Walk work.
In certain embodiments, source synchronization node (200) can pass through the first communication link (310)
Connect system node (100a~100d, 150).In certain embodiments, node can be fixed
Position node (150).
In addition, according to some embodiments, there is provided a kind of cooperative system (1000,2000)
Node (100a~100d, 150).The node (100a~100d, 150) can pass through first
Communication link (310) connection source synchronization node (200), and can be from source synchronization node (200)
Initial sync signal is received, and collaboration system is connected with each other by the second communication link (320) connection
Other nodes (100b~100d, 150) united in (1000,2000) are with according to the second communication
The redundant synchronization signals of link (320) and other node (100b~100d, 150) synchronous works
Make.
In addition, according to some embodiments, there is provided in a kind of cooperative system (1000,2000)
The signal synchronizing method of node (100a~100d, 150).This method includes：From the first communication
When link (310) receives initial sync signal, judge be on the second communication link (320)
It is no to have redundant synchronization signals, it is same if sending redundancy on the second communication link (320) without if
Walk signal.
In addition, according to some embodiments, there is provided a kind of cooperative system (1000,2000)
Signal synchronizing method.This method includes：In system (1000,2000) node (100a~
100d, when 150) receiving initial sync signal from the first communication link (310), judge
Whether two communication links have redundant synchronization signals on (320), if without if in the second communication chain
Road sends redundant synchronization signals on (320)；In system (1000,2000) all nodes (100a~
100d, the 150) synchronization when receiving redundant synchronization signals by the second communication link (320)
Work.
In certain embodiments, in system (1000,2000) all nodes (100a~100d,
150) worked asynchronously when receiving redundant synchronization signals by the second communication link (320),
Specifically include：When all nodes (100a~100d, 150) or default part of nodes pass through
Timing simultaneously is positioned when two communication links (320) receive redundant synchronization signals.
So far the disclosure is described combined preferred embodiment.It should be understood that ability
Field technique personnel in the case where not departing from spirit and scope of the present disclosure, can carry out it is various its
Its change, replacement and addition.Therefore, the scope of the present disclosure is not limited to above-mentioned particular implementation
Example, and should be defined by the appended claims.
Claims (10)
1. a kind of cooperative system, including multiple nodes being connected with each other by the second communication link,
Wherein described node connects source synchronization node by the first communication link, so that in the system
At least one node passes through institute after initial sync signal is received from first communication link
State and all nodes so that in the system are synchronized between the second communication link and all nodes
Synchronous working.
2. cooperative system according to claim 1, wherein the source synchronization node passes through
One communication link connects the node of the system.
3. cooperative system according to claim 1 or 2, wherein the node is positioning node.
4. a kind of node of cooperative system, source synchronization node is connected by the first communication link, and
Initial sync signal can be received from the source synchronization node, and is connected by the second communication link
Other nodes in the cooperative system are connected with each other with the redundancy according to second communication link
Synchronizing signal works asynchronously with other nodes.
5. cooperative system according to claim 4, wherein the node is positioning node.
6. a kind of signal synchronizing method of cooperative system interior joint, including：
When receiving initial sync signal from the first communication link, second communication link is judged
On whether have redundant synchronization signals, if sending redundancy on second communication link without if
Synchronizing signal.
7. signal synchronizing method according to claim 6, wherein the node saves for positioning
Point.
8. a kind of signal synchronizing method of cooperative system, including：
Node in the system from the first communication link receive initial sync signal when, judge
Whether there are redundant synchronization signals on second communication link, if logical described second without if
Redundant synchronization signals are sent on letter link；
All nodes in the system are receiving the redundancy by second communication link
Worked asynchronously during synchronizing signal.
9. signal synchronizing method according to claim 8, wherein the section of the cooperative system
Point is positioning node.
10. signal synchronizing method according to claim 8 or claim 9, wherein in the system
All nodes synchronous work when receiving the redundant synchronization signals by second communication link
Make, specifically include：
When all nodes or default part of nodes received by second communication link it is described
Timing simultaneously is positioned during redundant synchronization signals.
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| WO2021035398A1 (en) * | 2019-08-23 | 2021-03-04 | 北京希姆计算科技有限公司 | Synchronization circuit and synchronization chip |
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