CN108023658B - High-precision clock synchronization time service method and device - Google Patents
High-precision clock synchronization time service method and device Download PDFInfo
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- CN108023658B CN108023658B CN201610961671.3A CN201610961671A CN108023658B CN 108023658 B CN108023658 B CN 108023658B CN 201610961671 A CN201610961671 A CN 201610961671A CN 108023658 B CN108023658 B CN 108023658B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0685—Clock or time synchronisation in a node; Intranode synchronisation
Abstract
The invention relates to a high-precision clock synchronization time service device, which comprises a satellite signal receiving module, a clock synchronization time keeping module and an FPGA chip which are sequentially connected; the method comprises the following steps: the satellite signal receiving module receives satellite time service signals; the clock synchronization time keeping module carries out time keeping of an internal clock of the satellite time keeping signal and sends a periodic second pulse timing signal and a time keeping serial port data signal to the FPGA chip; the FPGA chip dynamically generates acquisition time stamp data according to the periodic second pulse timing signal and the time service serial port data signal, adds the acquisition time stamp data to the received sensor serial port data and forwards the acquisition time stamp data to the serial port server; the method directly provides time stamp data for the computer and provides time stamp data for the sounding scan sonar host. The invention has simple integral structure and smart and simple programming mode, and can ensure the continuous, reliable and stable operation of the system. The expansibility is strong, and the number of the serial ports and the pulse input ports nodes is increased or reduced according to the situation.
Description
Technical Field
The invention is suitable for clock synchronization and time service functions among internal equipment of an underwater robot, in particular to a high-precision clock synchronization time service method and device, which are used for synchronizing an underwater robot with satellite time service signals when the underwater robot is on the water surface, keeping the underwater time keeping precision through a high-precision crystal oscillator, providing the high-precision synchronous clock signals and serial time service signals for the underwater robot by utilizing the advantage of rapid multipath parallelism of an FPGA module, and providing accurate, standard, safe and reliable time service for the underwater robot.
Background
The underwater robot has no unified time standard of time service for various devices in the underwater robot during underwater operation, so that the underwater robot cannot determine the corresponding time of various sensor data, the time-of-day error of the internal clock of the underwater robot reaches the second level, and the accuracy of a control system, underwater high-accuracy measurement and other operation systems are greatly influenced.
Disclosure of Invention
In order to overcome the problems, the technical problem to be solved by the invention is to provide the high-precision clock synchronization time service device and the method which are applied to the underwater robot, have simple structure and reliable operation, and can accurately time service various serial sensors, measuring equipment and the like through the high-precision clock synchronization time service device.
The technical scheme adopted by the invention for achieving the purpose is as follows: the high-precision clock synchronization time service device comprises a satellite signal receiving module, a clock synchronization time keeping module and an FPGA chip which are sequentially connected;
the satellite signal receiving module is used for receiving satellite time service signals;
the clock synchronization time keeping module is used for carrying out time keeping of the internal clock of the satellite time keeping signal, and sending a periodic second pulse timing signal and a time service serial port data signal to the FPGA chip;
the FPGA chip is used for dynamically generating acquisition time stamp data according to the periodic second pulse timing signal and the time service serial port data signal, adding acquisition time stamp data to the received sensor serial port data, and forwarding the acquisition time stamp data to a serial port server; and directly providing time stamp data for the computer, and providing time stamp data for the sounding and scanning sonar host according to the sounding and scanning sonar host pulse signal.
The FPGA chip comprises a time module, a serial port module, a pulse time service module and a common time service serial port transmitting module;
the time module is used for receiving the periodic second pulse timing signal and the time service serial port data signal of the clock synchronization time keeping module, packaging the millisecond microsecond time data obtained by second segmentation and the year, month, day, time and second time data obtained by time service data analysis to obtain time stamp data, and sending the time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module;
the serial port module is used for adding time to the sensor serial port data according to the time stamp data and outputting serial port data after adding and collecting the time stamp data to the serial port server;
the pulse time service module is used for sending the time stamp data to the sounding, scanning and sonar host according to the sounding, scanning and sonar host pulse signal;
and the common time service serial port sending module is used for directly sending the time stamp data to the computer.
The time module comprises:
the serial port receiving sub-module is used for receiving the time service serial port data signal and sending the time service serial port data signal to the time analyzing sub-module;
the time analysis sub-module is used for analyzing the time data of the time service serial port data from the time service serial port data, and sending the time data to the acquisition time stamp data generation sub-module;
the pulse detection submodule is used for detecting a periodic second pulse timing signal;
the second segmentation sub-module is used for carrying out second segmentation on the periodic second pulse timing signal to obtain millisecond microsecond time data;
and the acquisition time stamp data generation sub-module is used for packaging the time data of year, month, day, time, second and millisecond and microsecond into acquisition time stamp data and outputting the acquisition time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module.
The serial port module comprises:
the serial port receiving sub-module is used for receiving the serial port data of the sensor according to the receiving enabling signal sent by the receiving control sub-module, sending a single byte data receiving signal and single byte data containing the serial port data of the sensor to the receiving control sub-module, and sending a filling time pulse to the filling time sub-module according to the starting bit of the first single byte data;
the receiving control sub-module is used for providing a data writing request signal for the receiving data caching sub-module according to the single-byte data receiving completion signal, and sending the single-byte data to the receiving data caching sub-module after receiving the data unsatisfied signal of the receiving data caching sub-module;
the receiving data caching submodule is used for caching single-byte data; and according to the read data request signal of the intermediate control sub-module, single byte data and a null signal are provided for the intermediate control sub-module;
the intermediate control submodule is used for judging whether the buffer data of the receiving data buffer submodule is empty according to the empty signal of the receiving data buffer submodule, providing a read data request signal for the receiving data buffer submodule under the condition that the buffer data is not empty, sending a write data request signal to the sending data buffer submodule after receiving the data unsatisfied signal of the sending data buffer submodule, and sending the single byte data provided by the receiving data buffer submodule to the sending data buffer submodule;
the sending data caching sub-module is used for caching single-byte data and providing single-byte data and null signals for the sending control sub-module according to the reading data request signal of the sending control sub-module;
the time filling sub-module is used for sending the acquired time stamp data to the sending control sub-module according to the time filling pulse from the serial port receiving sub-module;
the sending control sub-module is used for controlling the acquisition time stamp data to be sent before the serial port data, providing a read data request signal for the sending data buffer sub-module according to a single-byte data sending completion signal of the serial port sending sub-module, receiving an empty signal of the sending data buffer sub-module, judging whether the buffer data of the sending data buffer sub-module is empty, providing the read data request signal for the sending data buffer sub-module under the condition that the buffer data of the sending data buffer sub-module is not empty, providing the single-byte data containing the time stamp data and the sensor serial port data for the serial port sending sub-module, and sending a sending enabling signal to the serial port sending sub-module;
and the serial port transmitting sub-module is used for outputting single byte data containing time stamp data and sensor serial port data to the serial port server through the serial port and providing a transmitting control sub-module with a transmitting finishing signal.
The pulse time service module comprises:
the pulse detection sub-module is used for detecting the pulse signal and sending a start signal to the transmission control sub-module;
the transmission control sub-module is used for transmitting the acquired time stamp data to the serial port transmission sub-module according to the transmission starting signal and transmitting a transmission enabling signal to the serial port transmission sub-module;
and the serial port transmitting sub-module is used for outputting the single byte data containing the acquisition time stamp data to the computer through the serial port and providing a transmitting signal for the transmitting control sub-module.
The invention has the following beneficial effects and advantages:
1. the reliability is high. The invention has simple integral structure and smart and simple programming mode, and can ensure the continuous, reliable and stable operation of the system.
2. The expansibility is strong. The invention can increase or cut down the number of the nodes of the serial port and the pulse input port according to the situation.
Drawings
FIG. 1 is a schematic block diagram of the external pin wiring of a high-precision clock synchronization time service device;
fig. 2 is a schematic block diagram of the internal structure of the FPGA.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
When the underwater robot is on the water surface, the satellite time service synchronous signal can be received, and the equipment performs clock synchronization through the time service signal, so that the equipment time and the satellite time keep synchronous and consistent. When the underwater robot works underwater, the clock synchronous timing module is utilized to maintain the underwater time keeping precision. The clock synchronization time service module can provide accurate, standard, safe, reliable and multifunctional time service (serial port time service, 1PPS pulse signal output and other functions) for the outside. The device realizes the function of rapidly and simultaneously processing a plurality of tasks by utilizing the advantages of high running speed, multiple pins, flexible pin management, parallel running of internal programs and the like of the FPGA. The device can accurately divide a 1PPS pulse signal, the time resolution can reach microsecond level, and based on the technology, the device has the function of adding accurate acquisition time stamp data (the resolution is accurate to microsecond level) to external serial port sensor data and providing sensor data added with the accurate acquisition time stamp data.
The high-precision clock synchronization time service device comprises a satellite signal receiving module, a clock synchronization time keeping module and an FPGA chip which are sequentially connected;
the satellite signal receiving module is used for receiving satellite time service signals;
the clock synchronization time keeping module is used for carrying out time keeping on the internal clock of the satellite time keeping signal and sending a periodic second pulse timing signal and a time keeping serial port data signal to the FPGA chip;
the FPGA chip is used for dynamically generating acquisition time stamp data according to the periodic second pulse timing signal and the time service serial port data signal, filling the acquisition time stamp data into the received sensor serial port data and forwarding the acquisition time stamp data to the serial port server; and directly providing time stamp data for the computer, and providing time stamp data for the sounding and scanning sonar host according to the sounding and scanning sonar host pulse signal.
The FPGA chip comprises a time module, a serial port module, a pulse time service module and a common time service serial port transmitting module;
the time module is used for receiving the periodic second pulse timing signal and the time service serial port data signal of the clock synchronization time keeping module, packaging the millisecond microsecond time data obtained by second segmentation and the year, month, day, time and second time data obtained by time service data analysis to obtain time stamp data, and sending the time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module;
the serial port module is used for adding time to the sensor serial port data according to the time stamp data and outputting serial port data after adding and collecting the time stamp data to the serial port server;
the pulse time service module is used for sending the time stamp data to the sounding, scanning and sonar host according to the sounding, scanning and sonar host pulse signal;
and the common time service serial port sending module is used for directly sending the time stamp data to the computer.
The time module comprises:
the serial port receiving sub-module is used for receiving the time service serial port data signal and sending the time service serial port data signal to the time analyzing sub-module;
the time analysis sub-module is used for analyzing the time data of the time service serial port data from the time service serial port data, and sending the time data to the acquisition time stamp data generation sub-module;
the pulse detection submodule is used for detecting a periodic second pulse timing signal;
the second segmentation sub-module is used for carrying out second segmentation on the periodic second pulse timing signal to obtain millisecond microsecond time data;
and the acquisition time stamp data generation sub-module is used for packaging the time data of year, month, day, time, second and millisecond and microsecond into acquisition time stamp data and outputting the acquisition time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module.
The serial port module comprises:
the serial port receiving sub-module is used for receiving the serial port data of the sensor according to the receiving enabling signal sent by the receiving control sub-module, sending a single byte data receiving signal and single byte data containing the serial port data of the sensor to the receiving control sub-module, and sending a filling time pulse to the filling time sub-module according to the starting bit of the first single byte data;
the receiving control sub-module is used for providing a data writing request signal for the receiving data caching sub-module according to the single-byte data receiving completion signal, and sending the single-byte data to the receiving data caching sub-module after receiving the data unsatisfied signal of the receiving data caching sub-module;
the receiving data caching submodule is used for caching single-byte data; and according to the read data request signal of the intermediate control sub-module, single byte data and a null signal are provided for the intermediate control sub-module;
the intermediate control submodule is used for judging whether the buffer data of the receiving data buffer submodule is empty according to the empty signal of the receiving data buffer submodule, providing a read data request signal for the receiving data buffer submodule under the condition that the buffer data is not empty, sending a write data request signal to the sending data buffer submodule after receiving the data unsatisfied signal of the sending data buffer submodule, and sending the single byte data provided by the receiving data buffer submodule to the sending data buffer submodule;
the sending data caching sub-module is used for caching single-byte data and providing single-byte data and null signals for the sending control sub-module according to the reading data request signal of the sending control sub-module;
the time filling sub-module is used for sending the acquired time stamp data to the sending control sub-module according to the time filling pulse from the serial port receiving sub-module;
the sending control sub-module is used for controlling the acquisition time stamp data to be sent before the serial port data, providing a read data request signal for the sending data buffer sub-module according to a single-byte data sending completion signal of the serial port sending sub-module, receiving an empty signal of the sending data buffer sub-module, judging whether the buffer data of the sending data buffer sub-module is empty, providing the read data request signal for the sending data buffer sub-module under the condition that the buffer data of the sending data buffer sub-module is not empty, providing the single-byte data containing the time stamp data and the sensor serial port data for the serial port sending sub-module, and sending a sending enabling signal to the serial port sending sub-module;
and the serial port transmitting sub-module is used for outputting single byte data containing time stamp data and sensor serial port data to the serial port server through the serial port and providing a transmitting control sub-module with a transmitting finishing signal.
The pulse time service module comprises:
the pulse detection sub-module is used for detecting the pulse signal and sending a start signal to the transmission control sub-module;
the transmission control sub-module is used for transmitting the acquired time stamp data to the serial port transmission sub-module according to the transmission starting signal and transmitting a transmission enabling signal to the serial port transmission sub-module;
and the serial port transmitting sub-module is used for outputting the single byte data containing the acquisition time stamp data to the computer through the serial port and providing a transmitting signal for the transmitting control sub-module.
A high-precision clock synchronization time service method and device comprises a satellite signal receiving module, a clock synchronization time keeping module and an FPGA; wherein, the liquid crystal display device comprises a liquid crystal display device,
the satellite receiving module is used for receiving satellite time service signals when the underwater robot is on the water surface;
the clock synchronization time keeping module is used for keeping accurate time timing when the underwater robot is underwater and sending a periodic second pulse timing signal and a time service serial port data signal to external equipment;
the FPGA is used for filling accurate acquisition time stamp data into the serial port sensor data passing through the device and forwarding the acquisition time stamp data to the later-stage processing module, and is used for directly providing the time stamp data to the outside and providing the time stamp data to the outside according to an external pulse signal.
The satellite receiving module is manufactured by Zhejiang Yu instruments limited company, and the model is ZYSBD-F815;
the clock synchronization time keeping module is made of Beijing Taifu electronic technology limited company, and is of the model HJ207-OCXO; the TOD IN port is connected with an isolation output serial port of the satellite receiving module, and the 1PPS pulse output port and the TOD OUT port are respectively connected with a 1PPS pulse signal input port and a time service serial data input port of the FPGA;
the FPGA adopts EP4CE15F17C8N, and is provided with 8 serial data input ports, 1 time service serial data input port, 1PPS pulse signal input port, 1 pulse signal input port, 8 serial data output ports, 1 time service serial data output port and 1 pulse time service serial data output port;
the time service serial port data input port is used for receiving time service serial port data, the 1PPS pulse signal input port is used for receiving 1PPS pulse signals, and the pulse signal input port is used for receiving sounding, scanning and sonar host pulse signals;
the serial data input port is used for connecting a serial sensor, and comprises a compass, a fiber-optic gyroscope, an inclinometer, a CTD, an altimeter, a depth meter, doppler and inertial navigation; receiving serial port sensor data;
the serial port data output port is used for connecting with the serial port server;
the pulse time service serial data output port is used for connecting with a sounding scanning sonar host serial port;
the time service serial data output port is connected with each computer serial port.
The FPGA comprises a time module, a serial port module 1-n and a pulse time service module 1-n; wherein, the liquid crystal display device comprises a liquid crystal display device,
the time module is used for dynamically generating acquisition time stamp data.
The serial port module is used for receiving serial port data and sending the serial port data after the acquisition time stamp data is added.
The pulse time service module is used for detecting pulse signals and sending acquisition time stamp data to the outside.
The time module concrete submodule comprises:
the serial port receiving sub-module is used for receiving time service serial port data;
the time analysis submodule is used for analyzing time information of time, month, day, time, second and the like from the time service serial data;
the pulse detection submodule is used for detecting a 1PPS pulse signal;
the second segmentation molecular module is used for carrying out second segmentation according to the pulse detection signal to obtain millisecond subtle information;
and the acquisition time stamp data generation sub-module is used for packaging the time information of the year, month, day, minute, second, millisecond and subtle time into an acquisition time stamp data packet according to a certain protocol and outputting the acquisition time stamp data packet.
The serial port module concrete submodule comprises:
the serial port receiving sub-module is used for receiving serial port data and sending filling time pulse to the filling time sub-module according to the first single byte data start bit;
the receiving control sub-module is used for providing a receiving enabling signal for the serial port receiving sub-module and providing a data writing request signal and data writing for the receiving data caching sub-module;
the receiving data buffer sub-module is used for providing read data and empty signals for the intermediate control sub-module and providing full signals for the receiving control sub-module;
the intermediate control sub-module is used for providing a read data request signal for the data receiving and buffering sub-module and providing a write data and write request signal for the data transmitting and buffering sub-module;
the sending data buffer sub-module is used for providing reading data and empty signals for the sending control sub-module and providing full signals for the intermediate control sub-module;
the transmission control submodule is used for providing transmission data and a transmission enabling signal for the serial port transmission submodule;
the serial port transmitting submodule is used for providing a transmitted signal for the transmitting control submodule and transmitting data to the serial port output port;
and the time filling sub-module is used for giving the acquisition time stamp data to the sending control sub-module according to the time filling pulse from the serial port receiving sub-module.
The pulse time service module concrete submodule comprises:
the pulse detection submodule is used for detecting pulse signals;
the transmission control sub-module is used for giving the acquisition time stamp data to the serial port transmission sub-module according to the pulse signal;
a serial port transmitting sub-module for transmitting the acquisition time stamp data
The application method of the invention is as follows:
according to the input and output interfaces distributed on the time service device. The sensor device original data interface is connected to the input port, and the data marked by time service is connected to the rear-stage control device from the output interface. The time service device is connected with the time data serial port output port of the external broadcast and the corresponding data receiving end on the underwater robot.
The device is characterized in that as shown in fig. 1, the external pin wiring schematic block diagram of the high-precision clock synchronization time service device is shown, wherein the left side of the figure is a clock synchronization time keeping module and a satellite signal receiving module, when the underwater robot is on the water surface, satellite time service synchronous signals can be received, and clock synchronization is carried out by the device through the time service signals, so that the device time and the satellite time keep synchronous and consistent; when the underwater robot works underwater, the clock synchronous timing module is utilized to maintain the underwater time keeping precision. The right side of the figure is an FPGA; the FPGA input port is divided into four types: a serial port data input port, a time service serial port data input port, a 1PPS pulse signal input port and a pulse signal input port; the output port of the FPGA is divided into three types: serial data output port, time service serial data output port, pulse time service serial data output port. The serial port data input port is connected with serial port sensor data, and the serial port sensor data is output through the serial port data output port after being added with accurate acquisition time stamp data; the time service serial data input port is connected with serial time service data of the clock synchronization time keeping module, and the 1PPS pulse signal input port is connected with a 1PPS pulse signal of the clock synchronization time keeping module; the time service serial port data output port directly outputs high-precision acquisition time stamp data; the pulse signal input port is connected with a common pulse signal, and the pulse time service serial port data output port directly outputs high-precision acquisition time stamp data according to the arrival time of the pulse signal.
As shown in fig. 2, which is a schematic block diagram of the internal structure of the FPGA, the main modules include: the device comprises a time module, a serial port module 1-n, a pulse time service module 1-n and a common time service serial port transmitting module.
The time module consists of five parts, namely a serial port receiving sub-module, a time analyzing sub-module, a pulse detecting sub-module, a second cutting sub-module and a time stamp data collecting and generating sub-module; the serial port receiving sub-module receives time service serial port data, the time analyzing sub-module analyzes time information of year, month, day, time, minute and second from the time service data (the time service data in the GPZDA format can be analyzed in the device, a function of analyzing a data protocol can be added according to specific conditions), the pulse detecting sub-module detects 1PPS pulse signals, the second segmentation sub-module carries out second segmentation according to the pulse detecting signals, the acquisition timestamp data generating sub-module packages the time information into acquisition timestamp data according to a certain communication protocol and outputs the acquisition timestamp data according to the time information of year, month, day, time, second and millisecond subtle information obtained by second segmentation.
The serial port module consists of a serial port receiving sub-module, a receiving control sub-module, a data receiving cache sub-module, an intermediate control sub-module, a data sending cache sub-module, a sending control sub-module, a serial port sending sub-module and a time filling sub-module; the serial port receiving sub-module sends a time filling pulse to the time filling sub-module according to the first single byte data start bit, the time filling sub-module gives the acquired time stamp data to the sending control sub-module according to the time filling pulse, the sending control sub-module gives the acquired time stamp data to the serial port sending sub-module, and the serial port sending sub-module executes the task of sending the acquired time stamp data; meanwhile, the serial port receiving sub-module provides a single byte data receiving end signal and single byte data for the receiving control sub-module, the receiving control sub-module provides a receiving enabling signal for the serial port receiving sub-module, provides a writing data request signal and writing data for the receiving data buffering sub-module, the receiving data buffering sub-module provides a buffer full signal for the receiving control sub-module, also provides a reading data and empty signal for the middle control sub-module, the middle control sub-module provides a reading data request signal for the receiving data buffering sub-module, the middle control sub-module provides a writing data and writing request signal for the sending data buffering sub-module, the sending data buffering sub-module provides a buffer full signal for the middle control sub-module, the sending data buffering sub-module provides a reading data and empty signal for the sending control sub-module, the sending control sub-module provides a sending end signal for the sending data, the serial port sending sub-module sends data to the serial port output port, and after the serial port sending sub-module sends data, the serial port sub-module continues waiting for the arrival of a single byte starting bit.
The pulse time service module consists of a pulse detection submodule, a transmission control submodule and a serial port transmission submodule; the pulse detection submodule detects a pulse signal, the transmission control submodule gives the acquisition time stamp data to the serial port transmission submodule according to the pulse signal, the serial port transmission submodule executes the task of transmitting the acquisition time stamp data, and the pulse timing submodule continues to wait for the arrival of the pulse signal after the transmission is finished.
The common serial port transmitting module directly executes the task of transmitting the acquisition time stamp data.
Claims (6)
1. High accuracy clock synchronization time service device, its characterized in that: the system comprises a satellite signal receiving module, a clock synchronization time keeping module and an FPGA chip which are sequentially connected;
the satellite signal receiving module is used for receiving satellite time service signals;
the clock synchronization time keeping module is used for carrying out time keeping on the internal clock of the satellite time keeping signal and sending a periodic second pulse timing signal and a time keeping serial port data signal to the FPGA chip;
the FPGA chip is used for dynamically generating acquisition time stamp data according to the periodic second pulse timing signal and the time service serial port data signal, filling the acquisition time stamp data into the received sensor serial port data and forwarding the acquisition time stamp data to the serial port server; directly providing time stamp data for a computer, and providing time stamp data for a sounding and scanning sonar host according to a sounding and scanning sonar host pulse signal;
the FPGA chip comprises a time module, a serial port module, a pulse time service module and a common time service serial port transmitting module;
the time module is used for receiving the periodic second pulse timing signal and the time service serial port data signal of the clock synchronization time keeping module, packaging the millisecond microsecond time data obtained by second segmentation and the year, month, day, time and second time data obtained by time service data analysis to obtain time stamp data, and sending the time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module;
the serial port module is used for adding time to the sensor serial port data according to the time stamp data and outputting serial port data after adding and collecting the time stamp data to the serial port server;
the pulse time service module is used for sending the time stamp data to the sounding, scanning and sonar host according to the sounding, scanning and sonar host pulse signal;
the common time service serial port transmitting module is used for directly transmitting the time stamp data to the computer;
the serial port module comprises:
the serial port receiving sub-module is used for receiving the serial port data of the sensor according to the receiving enabling signal sent by the receiving control sub-module, sending a single byte data receiving signal and single byte data containing the serial port data of the sensor to the receiving control sub-module, and sending a filling time pulse to the filling time sub-module according to the starting bit of the first single byte data;
the receiving control sub-module is used for providing a data writing request signal for the receiving data caching sub-module according to the single-byte data receiving completion signal, and sending the single-byte data to the receiving data caching sub-module after receiving the data unsatisfied signal of the receiving data caching sub-module;
the receiving data caching submodule is used for caching single-byte data; and according to the read data request signal of the intermediate control sub-module, single byte data and a null signal are provided for the intermediate control sub-module;
the intermediate control submodule is used for judging whether the buffer data of the receiving data buffer submodule is empty according to the empty signal of the receiving data buffer submodule, providing a read data request signal for the receiving data buffer submodule under the condition that the buffer data is not empty, sending a write data request signal to the sending data buffer submodule after receiving the data unsatisfied signal of the sending data buffer submodule, and sending the single byte data provided by the receiving data buffer submodule to the sending data buffer submodule;
the sending data caching sub-module is used for caching single-byte data and providing single-byte data and null signals for the sending control sub-module according to the reading data request signal of the sending control sub-module;
the time filling sub-module is used for sending the acquired time stamp data to the sending control sub-module according to the time filling pulse from the serial port receiving sub-module;
the sending control sub-module is used for controlling the acquisition time stamp data to be sent before the serial port data, providing a read data request signal for the sending data buffer sub-module according to a single-byte data sending completion signal of the serial port sending sub-module, receiving an empty signal of the sending data buffer sub-module, judging whether the buffer data of the sending data buffer sub-module is empty, providing the read data request signal for the sending data buffer sub-module under the condition that the buffer data of the sending data buffer sub-module is not empty, providing the single-byte data containing the time stamp data and the sensor serial port data for the serial port sending sub-module, and sending an enabling signal to the serial port sending sub-module;
and the serial port transmitting sub-module is used for outputting single byte data containing time stamp data and sensor serial port data to the serial port server through the serial port and providing a transmitting control sub-module with a transmitting finishing signal.
2. The high precision clock synchronization timing apparatus according to claim 1, wherein the time module comprises:
the serial port receiving sub-module is used for receiving the time service serial port data signal and sending the time service serial port data signal to the time analyzing sub-module;
the time analysis sub-module is used for analyzing the time data of the time service serial port data from the time service serial port data, and sending the time data to the acquisition time stamp data generation sub-module;
the pulse detection submodule is used for detecting a periodic second pulse timing signal;
the second segmentation sub-module is used for carrying out second segmentation on the periodic second pulse timing signal to obtain millisecond microsecond time data;
and the acquisition time stamp data generation sub-module is used for packaging the time data of year, month, day, time, second and millisecond and microsecond into acquisition time stamp data and outputting the acquisition time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module.
3. The high-precision clock synchronization timing apparatus according to claim 1, wherein the pulse timing module comprises:
the pulse detection sub-module is used for detecting the pulse signal and sending a start signal to the transmission control sub-module;
the transmission control sub-module is used for transmitting the acquired time stamp data to the serial port transmission sub-module according to the transmission starting signal and transmitting an enabling signal to the serial port transmission sub-module;
and the serial port transmitting sub-module is used for outputting the single byte data containing the acquisition time stamp data to the computer through the serial port and providing a transmitting signal for the transmitting control sub-module.
4. The high-precision clock synchronization time service method is characterized by comprising the following steps of:
the satellite signal receiving module receives satellite time service signals;
the clock synchronization time keeping module carries out time keeping of an internal clock of the satellite time keeping signal and sends a periodic second pulse timing signal and a time keeping serial port data signal to the FPGA chip;
the FPGA chip dynamically generates acquisition time stamp data according to the periodic second pulse timing signal and the time service serial port data signal, adds the acquisition time stamp data to the received sensor serial port data and forwards the acquisition time stamp data to the serial port server; directly providing time stamp data for a computer, and providing time stamp data for a sounding and scanning sonar host according to a sounding and scanning sonar host pulse signal;
the FPGA chip dynamically generates acquisition time stamp data according to the periodic second pulse timing signal and the time service serial port data signal, adds the acquisition time stamp data to the received sensor serial port data and forwards the acquisition time stamp data to the serial port server; directly providing time stamp data for a computer, and providing time stamp data for a sounding and scanning sonar host according to a sounding and scanning sonar host pulse signal comprises the following steps of;
the time module receives a periodic second pulse timing signal and a time service serial port data signal of the clock synchronization time keeping module, packages year, month, day, time and second time data obtained by analyzing the millisecond microsecond time data and the time service data obtained by second segmentation to obtain time stamp data, and sends the time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module;
the serial port module adds time to the sensor serial port data according to the time stamp data, and outputs serial port data after adding and collecting the time stamp data to the serial port server;
the pulse timing module sends the time stamp data to the sounding scanning sonar host according to the sounding scanning sonar host pulse signal;
the common time service serial port transmitting module directly transmits the time stamp data to the computer;
the serial port module adds time to the sensor serial port data according to the time stamp data and outputs the serial port data after the time stamp data is added and collected to the serial port server, and the serial port module comprises the following steps:
the serial port receiving submodule receives the serial port data of the sensor according to the receiving enabling signal sent by the receiving control submodule, sends a single byte data receiving signal and single byte data containing the serial port data of the sensor to the receiving control submodule, and sends a filling time pulse to the filling time submodule according to the starting bit of the first single byte data;
the receiving control submodule provides a data writing request signal for the receiving data caching submodule according to the single byte data receiving finishing signal, and after receiving the data unsatisfied signal of the receiving data caching submodule, the receiving control submodule sends the single byte data to the receiving data caching submodule;
the receiving data caching submodule caches single-byte data; and according to the read data request signal of the intermediate control sub-module, single byte data and a null signal are provided for the intermediate control sub-module;
the intermediate control sub-module judges whether the buffer data of the receiving data buffer sub-module is empty according to the empty signal of the receiving data buffer sub-module, provides a read data request signal for the receiving data buffer sub-module under the condition that the buffer data is not empty, and sends a write data request signal to the sending data buffer sub-module after receiving the data unsatisfied signal of the sending data buffer sub-module, and sends single byte data provided by the receiving data buffer sub-module to the sending data buffer sub-module;
the sending data caching submodule caches single-byte data and provides single-byte data and null signals for the sending control submodule according to a reading data request signal of the sending control submodule;
the time filling sub-module sends the acquired time stamp data to the sending control sub-module according to the time filling pulse from the serial port receiving sub-module;
the transmission control submodule controls the acquisition time stamp data to be transmitted before the serial port data, provides a read data request signal for the transmission data buffer submodule according to a single-byte data transmission completion signal of the serial port transmission submodule, receives an empty signal of the transmission data buffer submodule, judges whether the buffer data of the transmission data buffer submodule is empty, provides the read data request signal for the transmission data buffer submodule under the condition that the buffer data of the transmission data buffer submodule is not empty, provides the single-byte data containing the time stamp data and the sensor serial port data for the serial port transmission submodule, and transmits an enabling signal to the serial port transmission submodule;
the serial port transmitting sub-module outputs single byte data containing time stamp data and sensor serial port data to the serial port server through the serial port, and provides a transmitting control sub-module with a transmitting signal.
5. The high-precision clock synchronization time service method of claim 4, wherein the time module receives a periodic second pulse timing signal and a time service serial port data signal of the clock synchronization time keeping module, packages year, month, day, time and second time data obtained by analyzing millisecond microsecond time data obtained by second segmentation and time service data to obtain time stamp data, and sends the time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module, and the method comprises the following steps:
the serial port receiving submodule receives the time service serial port data signal and sends the time service serial port data signal to the time analysis submodule;
the time analysis sub-module analyzes time data of time, month, day, time, second and time from the time service serial port data and sends the time data to the acquisition time stamp data generation sub-module;
the pulse detection submodule detects a periodic second pulse timing signal;
the second segmentation sub-module carries out second segmentation on the periodic second pulse timing signal to obtain millisecond microsecond time data;
the acquisition time stamp data generation sub-module packages the time data of year, month, day, time, second and millisecond and microsecond into acquisition time stamp data and outputs the acquisition time stamp data to the serial port module, the pulse time service module and the common time service serial port sending module.
6. The method for high-precision clock synchronization time service according to claim 4, wherein the pulse time service module sends the time stamp data to the depth-finding scan sonar host according to the pulse signal of the depth-finding scan sonar host, and the method comprises the following steps:
the pulse detection submodule detects the pulse signal and sends a start signal to the transmission control submodule;
the transmission control sub-module transmits the acquired time stamp data to the serial port transmission sub-module according to the transmission start signal and transmits an enabling signal to the serial port transmission sub-module;
the serial port transmitting sub-module outputs the single byte data containing the acquisition time stamp data to the computer through the serial port, and provides a transmitting signal to the transmitting control sub-module.
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| CN109581415B (en) * | 2019-01-25 | 2024-01-23 | 中国人民解放军海军航空大学 | GNSS-based synchronous calculation and time service control device and method |
| CN112119365A (en) * | 2019-07-10 | 2020-12-22 | 深圳市大疆创新科技有限公司 | Time synchronization method, multi-sensor system and movable platform |
| CN112034698B (en) * | 2020-08-31 | 2021-07-02 | 天津津航计算技术研究所 | Universal time service and timing method |
| CN112398565B (en) * | 2020-11-06 | 2022-06-28 | 华能新能源股份有限公司河北分公司 | Method and system for generating time scale adjusting instruction and adjusting time scale |
| CN112799320B (en) * | 2020-12-01 | 2022-12-23 | 海洋石油工程股份有限公司 | Ship motion parameter and storm flow data synchronous acquisition method |
| CN112672415B (en) * | 2020-12-25 | 2022-04-26 | 之江实验室 | Multi-sensor time synchronization method, device, system, electronic device and medium |
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