CN108173615B - Clock synchronization method and system and computer readable storage medium - Google Patents
Clock synchronization method and system and computer readable storage medium Download PDFInfo
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- CN108173615B CN108173615B CN201810059359.4A CN201810059359A CN108173615B CN 108173615 B CN108173615 B CN 108173615B CN 201810059359 A CN201810059359 A CN 201810059359A CN 108173615 B CN108173615 B CN 108173615B
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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
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
- H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
- H04J3/0667—Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/003—Arrangements for allocating sub-channels of the transmission path
- H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/003—Arrangements for allocating sub-channels of the transmission path
- H04L5/0058—Allocation criteria
- H04L5/0062—Avoidance of ingress interference, e.g. ham radio channels
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0453—Resources in frequency domain, e.g. a carrier in FDMA
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/50—Allocation or scheduling criteria for wireless resources
- H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
- H04W72/541—Allocation or scheduling criteria for wireless resources based on quality criteria using the level of interference
Abstract
The application discloses a clock synchronization method and a system and a computer readable storage medium, wherein the clock synchronization method comprises the following steps: the master synchronization device transmits a wireless synchronization signal to at least one slave synchronization device according to a predetermined period; the slave synchronization device receives the wireless synchronization signal sent by the master synchronization device and sends a wireless response signal for the wireless synchronization signal to the master synchronization device, wherein the wireless response signal is one or more returned data packets. According to the application, the master synchronous device sends the wireless synchronous signals to the slave synchronous device according to different sending sequences, and the slave synchronous device returns the wireless response signals containing one or more data packets after receiving the wireless synchronous signals, so that the communication speed and efficiency are improved.
Description
Technical Field
The present application relates to the field of Virtual Reality (VR) technology, and in particular, to a clock synchronization method and system, and a computer readable storage medium.
Background
In virtual reality operation, a user views a video or performs interactive operation with a head-mounted display, and when performing interaction of a stem VR or other VR platform, the motion capture device is required to cooperate with the head-mounted display to perform interactive operation. The working process of the motion capture device is as follows: the indoor space is provided with a positioning base station which is used for transmitting positioning signals and setting a space coordinate axis, a user holds a signal receiver on hand, a head-mounted display (hereinafter referred to as a head display) is worn on the head, a positioner is arranged on the head display and can be arranged in the head display or arranged outside the head display, the positioner can not only receive the positioning signals transmitted by the positioning base station and calculate the position of the positioner on the space coordinate axis, but also receive the positioning signals transmitted by the signal receiver on hand, and then the specific postures of the user's head and hand are transmitted to the head display, and corresponding virtual object actions such as arrow shooting, ball playing and the like are carried out on a display screen of the head display.
The currently used positioning technologies include a laser positioning technology, a binocular camera positioning technology and the like, and the laser positioning technology performs position data calculation through the time of laser scanning, and needs to determine a time reference, so that a synchronous signal needs to be sent to synchronously position the time of a base station, a handle and a head display positioner. The existing positioning technology transmits a synchronous signal through a positioning base station, and the time synchronization and the data transmission of the positioning base station are carried out separately, so that certain signal transmission time is wasted, and the stability of the system is reduced. In this case, two wireless chips are required to be provided on the handle, one for receiving the synchronization signal and one for data transmission, and the cost is high. And the method is limited to equipment hardware, the frequency of time synchronization of the positioning base station is generally 60Hz, the synchronization period is long, refreshing of the head display screen is not facilitated, and user experience is further affected.
Disclosure of Invention
In order to solve the technical problems, the application provides a clock synchronization method and system and a computer readable storage medium, which can improve the communication speed and efficiency.
In order to achieve the purpose of the application, the technical scheme of the embodiment of the application is realized as follows:
the embodiment of the application provides a clock synchronization method, which comprises the following steps:
the master synchronization device transmits a wireless synchronization signal to at least one slave synchronization device according to a predetermined period;
the slave synchronization device receives the wireless synchronization signal sent by the master synchronization device and sends a wireless response signal for the wireless synchronization signal to the master synchronization device, wherein the wireless response signal is one or more returned data packets.
Further, the master synchronization device is a head display locator, and the slave synchronization device comprises at least one of a handle and a locating base station.
Further, the master synchronization device is a head display locator, the slave synchronization device comprises a positioning base station and at least one handle, and in one signal period, the head display locator sends M wireless synchronization signals to the positioning base station and sends N wireless synchronization signals to the at least one handle, wherein N is larger than M.
Further, when the slave synchronization device is the handle, the data packet includes any one or any combination of the following:
the handle comprises positioning data of the handle, gesture data of the handle, electric quantity information of the handle, key control signals of the handle and sensor signal data in the handle.
Further, when the slave synchronization device is the positioning base station, the data packet includes any one or any combination of the following:
the electric quantity information of the positioning base station, the motor operation data of the positioning base station, the key control signals of the positioning base station and the gesture data of the positioning base station.
Further, the method further comprises:
the master synchronization device determines the number of the wireless response signals which are not received;
when the number of the wireless response signals which are not received reaches a preset primary synchronization frequency threshold, the primary synchronization equipment hops to the next frequency according to a preset frequency hopping sequence to send the wireless synchronization signals.
The slave synchronous equipment determines the number of the wireless synchronous signals which are not received;
when the number of the wireless synchronous signals which are not received reaches a preset slave synchronous frequency threshold, the slave synchronous equipment hops to the next frequency according to a preset frequency hopping sequence to receive the wireless synchronous signals and send wireless response signals.
Embodiments of the present application also provide a computer-readable storage medium storing one or more programs executable by one or more processors to implement the steps of the clock synchronization method as described in any one of the above.
The embodiment of the application also provides a clock synchronization system, which comprises a master synchronization device and at least one slave synchronization device, wherein:
the main synchronization device is used for transmitting a wireless synchronization signal according to a preset period;
the slave synchronization device is configured to receive a wireless synchronization signal sent by the master synchronization device, and send a wireless response signal for the wireless synchronization signal to the master synchronization device, where the wireless response signal is one or more returned data packets.
Further, the master synchronization device is a head display locator, and the slave synchronization device comprises at least one of a handle and a locating base station.
Further, the master synchronization device is a head display locator, the slave synchronization device comprises a positioning base station and at least one handle, and in one signal period, the head display locator sends M wireless synchronization signals to the positioning base station and sends N wireless synchronization signals to the at least one handle, wherein N is larger than M.
Further, when the slave synchronization device is the handle, the data packet includes any one or any combination of the following:
the handle comprises positioning data of the handle, gesture data of the handle, electric quantity information of the handle, key control signals of the handle and sensor signal data in the handle.
Further, when the slave synchronization device is the positioning base station, the data packet includes any one or any combination of the following:
the electric quantity information of the positioning base station, the motor operation data of the positioning base station, the key control signals of the positioning base station and the gesture data of the positioning base station.
Further, the master synchronization device is further configured to:
and determining the number of the wireless response signals which are not received, and when the number of the wireless response signals which are not received reaches a preset main synchronous frequency threshold value, jumping to the next frequency according to a preset frequency hopping sequence to send the wireless synchronous signals.
Further, the slave synchronization device is further configured to:
determining the number of the wireless synchronous signals which are not received; and when the number of the unreceived wireless synchronous signals reaches a preset slave synchronous frequency threshold, hopping to the next frequency according to a preset frequency hopping sequence, receiving the wireless synchronous signals and sending wireless response signals.
The technical scheme of the application has the following beneficial effects:
according to the clock synchronization method, the clock synchronization system and the computer readable storage medium, the master synchronization device sends the wireless synchronization signals to the slave synchronization device according to different sending sequences, and the slave synchronization device returns the wireless response signals containing one or more data packets after receiving the wireless synchronization signals, so that the communication speed and the communication efficiency are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of a clock synchronization system according to a first embodiment of the present application;
fig. 2 is a schematic diagram of a wireless synchronization signal transmission sequence according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a head positioner according to a first embodiment of the present application;
FIG. 4 is a schematic diagram of a head positioner according to a second embodiment of the present application;
FIG. 5 is a schematic diagram of a head positioner according to a third embodiment of the present application;
fig. 6 is a schematic structural diagram of a positioning base station according to a first embodiment of the present application;
fig. 7 is a schematic structural diagram of a positioning base station according to a second embodiment of the present application;
FIG. 8 is a schematic view of a handle according to a first embodiment of the present application;
FIG. 9 is a schematic view of a handle according to a second embodiment of the present application;
FIG. 10 is a flowchart of a clock synchronization method according to a first embodiment of the present application;
FIG. 11 is a flowchart of a clock synchronization method according to a second embodiment of the present application;
FIG. 12 is a flowchart of a clock synchronization method according to a third embodiment of the present application;
fig. 13 is a flowchart of a clock synchronization method according to a fourth embodiment of the application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in detail hereinafter with reference to the accompanying drawings. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be arbitrarily combined with each other.
Referring to fig. 1, an embodiment of the present application provides a clock synchronization system including a master synchronization device 101 and at least one slave synchronization device 102, wherein:
a master synchronization device 101 for transmitting a wireless synchronization signal in a predetermined period;
the slave synchronization device 102 is configured to receive the wireless synchronization signal sent by the master synchronization device 101, and send a wireless response signal for the wireless synchronization signal to the master synchronization device 101, where the wireless response signal is one or more returned data packets.
Further, the master synchronization device 101 is a head-up positioner.
Further, the slave synchronization device 102 includes at least one of a handle, a positioning base station.
Specifically, the data packet information returned by the handle includes, but is not limited to, any one of or any combination of the following:
positioning data of the handle, gesture data of the handle, electric quantity information of the handle, key control signals of the handle and sensor signal data in the handle.
Specifically, the packet information returned by the positioning base station includes, but is not limited to, any one of or any combination of the following:
the method comprises the steps of positioning electric quantity information of a base station, motor operation data of the base station, key control signals of the base station and gesture data of the base station.
It should be noted that, since the handle needs to return information such as positioning data, attitude data, sensor signal data and the like to the head display positioner, the positioning base station does not need to send positioning information to the head display positioner, and in the head display positioner, the predetermined period of sending the wireless synchronization signal to the positioning base station is generally longer than the predetermined period of sending the wireless synchronization signal to the handle, thereby giving the handle more opportunities to send data packets.
The application takes the head display positioner as main synchronous equipment, and sends synchronous signals to the positioning base station and the two handles, in particular: the head display positioner is used as a main synchronization device to sequentially send synchronization signals to two handles and one positioning base station at regular time, wherein the synchronization signals carry data information with a preset first length (for example, the preset first length can be 1 byte, but is not limited to 1 byte, and can be other preset lengths), the handles and the base station receive the wireless synchronization signals and then send a data packet to the head display positioner, and the data packet carries data information with a preset second length (for example, the preset second length can be 32 bytes of communication data, but is not limited to 32 bytes, and can be 64 bytes, 128 bytes and the like).
In the wireless communication process, the head display positioner is used as a main transmitting end to transmit a radio synchronous signal once at preset time intervals (for example, the time intervals are 1.5 ms), the transmitting time point is assumed to be t1, the handle and the base station are used as receiving ends to receive data at time point t2, the receiving ends transmit data packets to return to the head display positioner after receiving the data, and the time point when the head display positioner receives the data is assumed to be t3. For a certain wireless chip, the time difference from transmission to reception is fixed, and the transmission delay is fixed from time t1 to time t2 and from time t1 to time t3 (for example, for an NRF24L01P communication chip in an embodiment of the present application, 176.5us is fixed from time t1 to time t2 and 471us is fixed from time t1 to time t 3), so that the time deviation between the receiving end and the transmitting end can be adjusted according to the fixed time difference, and thus the time alignment between 1 transmitting end and 3 receiving ends can be achieved.
In one embodiment of the application, an MCU is used as a controller, and an NRF24L01P communication chip is used for realizing wireless communication among the head display locator, the two handles and the base station. The head display locator is used as a main sending end to initiate communication and provides a time reference for the whole system. The MCU on the head display locator starts a timer with a timing period of 1.5ms to provide a time reference, the timer sends a synchronizing signal outwards every time the timer generates an interrupt, and each time the timer sends a synchronizing signal to the two handles and the base station alternately by a sending sequence number. The transmitting sequence is shown in fig. 2, the time period head display locator of the mark 'a' transmits a synchronizing signal to the handle a, the time period head display locator of the mark 'B' transmits a synchronizing signal to the handle B, and the time period head display locator of the mark 'C' transmits a synchronizing signal to the base station. After receiving the synchronous signal of the mark 'A', the handle A can cause an interruption on the MCU, and the interruption is used as a control signal, and the MCU sends the positioning data, the gesture data, the electric quantity information, the key control signal, the acceleration and angular velocity value of the sensor in the handle A and other data to the head display positioner through wireless communication by the data packet; after the handle B receives the synchronous signal of the mark 'B', an interrupt is caused on the MCU, the interrupt is used as a control signal, and the MCU transmits the positioning data, the gesture data, the electric quantity information, the key control signal, the acceleration and speed value of the sensor in the handle B and other data to the head display locator through wireless communication by a data packet; after receiving the synchronization signal of the mark 'C', the base station can cause an interruption on the MCU, and the interruption is used as a control signal, and the MCU sends the data such as the electric quantity information of the base station, the motor operation data, the key control signal and the like to the head display locator through the wireless communication by the data packet.
In each signal period, the head display positioner sends M wireless synchronous signals with sequence numbers C to the positioning base station, and alternately sends N wireless synchronous signals with sequence numbers B, C to the two handles, wherein N is greater than M, and M is greater than or equal to 1.
In one embodiment of the application, the handle and/or base station returns the data packet immediately after receiving the wireless synchronization signal.
In another embodiment of the present application, the handle and/or the base station may return the data packet after a period of time after receiving the wireless synchronization signal, but it is necessary to ensure that the time when the head display locator receives the data packet is within 1.5ms after sending the synchronization signal.
Because the base station does not need to send the positioning information, a very high transmission frequency is not needed, and each handle sends the positioning information once in 3ms, compared with the positioning base station with the existing time synchronization frequency of 60Hz and the time interval of sending the synchronization signal of 16.67 ms/time, the positioning base station sends the positioning information once in 16.67ms, the refreshing frequency is improved, and more timely data updating can be provided for some head display devices with larger picture refreshing rate (which may be more than 60Hz and reach 90Hz, 120Hz and even higher refreshing rate). In this embodiment, after each 5 times of synchronization signals are sent to the handle A, B by the head display locator, each time of synchronization signals are sent to the locating base station C, and each time period is 1.5ms, 11 times of synchronization signals are sent in a total period, and the difference between the total 11 x 1.5=16.5 ms and the locating period 16.67ms obtained by the frequency of the locating signals sent by the locating base station with 60Hz is not large. In order to ensure that the frequency of the positioning signals sent by the positioning base station with 60Hz is consistent, the self-detection can be performed within a large period, for example, within 1s, if the number of the wireless signals sent within 1s is greater than 11 x 60=660, the time of any sending period of the A/B/C can be adjusted to be 1.5 ms+/-difference.
The head display positioner is used as a main transmitting end to transmit a radio synchronizing signal once at intervals of 1.5ms, the radio synchronizing signal is divided into 11 transmitting intervals in a signal period of 16.7ms originally, one transmitting interval transmits the synchronizing signal to a positioning base station, and the other ten transmitting intervals respectively transmit the synchronizing signal to two handles at intervals. That is, the head display locator transmits 1 wireless synchronization signal to the locating base station and 5 wireless synchronization signals to the two handles in one signal period, wherein 5 is greater than 1. In one signal period, the handle obtains more synchronous signals, and the handle returns a data packet to the head display positioner after receiving the synchronous signals, so that the handle sends more real-time positioning data to the head display positioner through the setting of a transmitting interval, the frequency of transmitting the data is increased from 60HZ to 60 x5=300 Hz, and the communication speed and efficiency are improved.
It should be understood that this is just an embodiment, and other transmission times may be set, for example, the main transmitting end transmits the radio synchronization signal once every preset 2.4ms time interval, and the radio synchronization signal is divided into 7 transmission intervals in one signal period of 16.7ms originally, where one transmission interval transmits the synchronization signal to the positioning base station, and the other six transmission intervals transmit the synchronization signal to the two handles at intervals respectively. The transmission mode of the wireless synchronization signal, which can be obtained by the person skilled in the art by analogy in the above mode, is within the protection scope of the present application.
Referring to fig. 3, the embodiment of the present application further provides a head display locator, including a first transmitting unit 301 and a first receiving unit 302, where:
a first transmitting unit 301 for transmitting a wireless synchronization signal to the positioning base station and the handle according to a predetermined period;
a first receiving unit 302, configured to receive a wireless response signal of the positioning base station and the handle for the wireless synchronization signal.
Further, referring to fig. 4, the head display locator further includes a first counting unit 303 and a first frequency hopping control unit 304, wherein:
a first counting unit 303, configured to determine the number of wireless response signals that are not received;
the first frequency hopping control unit 304 is configured to hop to a next frequency to transmit a wireless synchronization signal according to a predetermined frequency hopping sequence when the number of wireless response signals that are not received reaches a first threshold.
Note that, the non-received wireless response signal detected by the first frequency hopping control unit 304 may be a continuous wireless response signal or may not be a continuous wireless response signal. Since the process of time synchronization is radio communication, there is interference of other radio waves such as WiFi, bluetooth, etc. to its communication. The application automatically switches channels according to the quality of communication. The transmitting end (main synchronous equipment) receives a wireless response signal again every time data is transmitted, the wireless response signal is a returned data packet, if the returned data packet is not received, the packet is counted for one time, and when the continuous packet loss exceeds a certain number of times, the continuous packet loss is considered to be strongly interfered. At this point the sender switches to the next channel. The receiving end (from the synchronizing device) then switches to the next channel if it does not receive data several times in succession, thereby avoiding interference with communications by other radio waves in the space.
In an embodiment of the present application, when the number of the wireless response signals that are not received reaches a first threshold, the method specifically includes:
continuously not receiving wireless response signals for more than N times within preset detection time;
or N times when the wireless response signal is not received continuously for more than N times within the preset detection time, wherein N and N are both natural numbers.
Illustratively, the preset detection time is 1 second, N is 8, and N is 2. For example, when the head display locator detects that the continuous packet loss for 1s exceeds 8 times, the channel is switched to avoid the current noisy channel. Correspondingly, after the head display positioner switches channels, the handle continuously receives no signal for more than 10 times and also switches to the next channel, and the base station continuously receives no signal for more than 2 times and switches to the next channel. After all four devices switch to the next channel, each device can perform a new packet loss detection and frequency hopping mechanism.
In an embodiment of the present application, the radio frequency band used by the wireless synchronization signal and the wireless response signal is the 2.4G ISM frequency band, and when frequency hopping is performed, the difference between the next frequency and the current frequency (i.e. the switching step distance) is greater than 22MHz.
Specifically, 2.4G ISM band, i.e., 2.400GHz to 2.4835GHz, has a total of 83 channels set in NRF24L 01. Since the most radio interference in the use environment comes from WiFi and the bandwidth of the WiFi channel is 22MHz, when the interference is encountered to switch channels, the switching steps of the channels are greater than 22MHz.
In one embodiment of the present application, the set hopping step distance is 25MHz, the starting channel is 2402MHz, the predetermined hopping sequence is 2402, 2427, 2452, 2477, 2405, 2430, 2455, 2480, 2408, 2433, 2458, 2411, 2436, 2461, 2415, 2439, 2464, 2418, 2442, 2467, 2421, 2445, 2470, 2424, 2448, 2473MHz in sequence, and the system loops from the head if the last channel is hopped.
Further, referring to fig. 5, the head display locator further includes a first locating unit 305, wherein:
the first positioning unit 305 is configured to receive a positioning signal sent by the positioning base station, and calculate a three-dimensional coordinate of the head display positioner in a three-dimensional space coordinate system according to the received positioning signal.
In the application, the work time sequence for realizing the positioning task comprises the following steps:
(1) For the head display positioner, after the initialization of power-on is completed, a wireless synchronous signal is sent to the base station and the handle; and processing the positioning data after receiving the positioning signals (the positioning signals are laser signals, ultrasonic signals and the like).
(2) And for the positioning base station, after the initialization is finished by powering on, the wireless synchronous signal is received, the time reference is adjusted, the motor is adjusted at the same time, and the positioning signal is sent after the synchronization and the motor adjustment are stable.
(3) And for the handle, after the initialization of the handle is completed after the handle is powered on, the wireless synchronous signal is received, the time reference is adjusted, and the positioning data is processed after the positioning signal is received.
Referring to fig. 6, the embodiment of the present application further provides a positioning base station, which includes a second receiving unit 601, a second transmitting unit 602, a first clock calibration unit 603, and a second positioning unit 604, wherein:
a second receiving unit 601, configured to receive a wireless synchronization signal sent by the head display locator, and notify the second sending unit 602 and the first clock calibration unit 603;
a second transmitting unit 602, configured to transmit a wireless response signal for the wireless synchronization signal to the head display locator;
a first clock calibration unit 603, configured to adjust a local clock according to the received wireless synchronization signal;
a second positioning unit 604 for sending positioning signals to the handle and the head display positioner.
Further, referring to fig. 7, the positioning base station further comprises a second counting unit 605 and a second frequency hopping control unit 606, wherein:
a second counting unit 605, configured to determine the number of wireless synchronization signals that are not received;
the second frequency hopping control unit 606 is configured to, when the number of the wireless synchronization signals that are not received reaches a second threshold, hop to a next frequency in a predetermined frequency hopping sequence to receive the wireless synchronization signals and transmit a wireless response signal.
It should be noted that, the process and principle of the positioning base station receiving the wireless synchronization signal and returning the wireless response signal, and the process and principle of frequency hopping when encountering interference are described in the foregoing, and are not repeated here.
Referring to fig. 8, an embodiment of the present application further provides a handle, including a third receiving unit 801, a third transmitting unit 802, a second clock calibration unit 803, and a third positioning unit 804, wherein:
a third receiving unit 801, configured to receive a wireless synchronization signal sent by the head display locator, and notify the third sending unit 802 and the second clock calibration unit 803;
a third transmitting unit 802, configured to transmit a wireless response signal for the wireless synchronization signal to the head display locator;
a second clock calibration unit 803 for adjusting a local clock according to the received wireless synchronization signal;
and the third positioning unit 804 is configured to receive a positioning signal sent by the positioning base station, and calculate a three-dimensional coordinate of the handle in the three-dimensional space coordinate system according to the received positioning signal.
Further, referring to fig. 9, the handle further includes a third counting unit 805 and a third frequency hopping control unit 806, wherein:
a third counting unit 805, configured to determine the number of wireless synchronization signals that are not received;
the third frequency hopping control unit 806 is configured to, when the number of the wireless synchronization signals that are not received reaches the second threshold, hop to the next frequency in a predetermined frequency hopping sequence, receive the wireless synchronization signals and send the wireless response signals.
It should be noted that, the process and principle of the handle receiving the wireless synchronization signal and returning the wireless response signal, and the process and principle of frequency hopping when encountering interference are described in the foregoing, and are not repeated here.
Referring to fig. 10, an embodiment of the present application provides a clock synchronization method, including the steps of:
step 1001: the master synchronization device transmits a wireless synchronization signal to at least one slave synchronization device according to a predetermined period;
further, the master synchronization device is a head display locator.
Further, the slave synchronization device comprises at least one of a handle and a positioning base station.
Step 1002: the slave synchronization device receives the wireless synchronization signal sent by the master synchronization device and sends a wireless response signal to the wireless synchronization signal, wherein the wireless response signal is one or more returned data packets.
Further, the packet information returned by the positioning base station includes, but is not limited to, any one of or any combination of the following:
the method comprises the steps of positioning electric quantity information of a base station, motor operation data of the base station, key control signals of the base station and gesture data of the base station.
Further, the data packet information returned by the handle includes, but is not limited to, any one of or any combination of the following:
positioning data of the handle, gesture data of the handle, electric quantity information of the handle, key control signals of the handle and sensor signal data in the handle.
It should be noted that, since the handle needs to return information such as positioning data, attitude data, sensor signal data and the like to the head display positioner, the positioning base station does not need to send positioning information to the head display positioner, and in the head display positioner, the predetermined period of sending the wireless synchronization signal to the positioning base station is generally longer than the predetermined period of sending the wireless synchronization signal to the handle, thereby giving the handle more opportunities to send data packets.
Referring to fig. 11, the embodiment of the application further provides a clock synchronization method, which includes the following steps:
step 1101: the head display positioner sends a wireless synchronous signal to the positioning base station and the handle according to a preset period;
step 1102: the head display locator receives wireless response signals of the locating base station and the handle aiming at the wireless synchronous signals.
Further, the wireless response signals of the positioning base station include, but are not limited to, any one of or any combination of the following:
the method comprises the steps of positioning electric quantity information of a base station, motor operation data of the base station, key control signals of the base station and gesture data of the base station.
Further, the wireless response signal of the handle includes, but is not limited to, any one of or any combination of the following:
positioning data of the handle, gesture data of the handle, electric quantity information of the handle, key control signals of the handle and sensor signal data in the handle.
Further, the clock synchronization method further includes:
the head display locator determines the number of the wireless response signals which are not received;
when the number of the unreceived wireless response signals reaches a first threshold value, the wireless synchronous signals are transmitted by jumping to the next frequency according to a preset frequency jumping sequence.
Further, the clock synchronization method further includes:
the head display positioner receives a positioning signal sent by the positioning base station, and calculates the three-dimensional coordinates of the head display positioner in the three-dimensional space coordinate system according to the received positioning signal.
Referring to fig. 12, the embodiment of the application further provides a clock synchronization method, which includes the following steps:
step 1201: the positioning base station receives a wireless synchronous signal sent by the head display positioner;
step 1202: the positioning base station sends a wireless response signal aiming at the wireless synchronous signal to the head display positioner, and adjusts a local clock according to the received wireless synchronous signal;
step 1203: the positioning base station transmits a positioning signal.
Further, the wireless response signals sent by the positioning base station include, but are not limited to, any one of or any combination of the following: the method comprises the steps of positioning electric quantity information of a base station, motor operation data of the base station, key control signals of the base station and gesture data of the base station.
Further, the clock synchronization method further includes:
the positioning base station determines the number of the wireless synchronous signals which are not received;
when the number of the unreceived wireless synchronous signals reaches a second threshold value, the wireless synchronous signals are received and the wireless response signals are sent by jumping to the next frequency according to a preset frequency hopping sequence.
Referring to fig. 13, the embodiment of the application further provides a clock synchronization method, which includes the following steps:
step 1301: the handle receives a wireless synchronous signal sent by the head display positioner;
step 1302: the handle sends a wireless response signal aiming at the wireless synchronous signal to the head display positioner, and adjusts a local clock according to the received wireless synchronous signal;
step 1303: the handle receives a positioning signal sent by the positioning base station, and calculates the three-dimensional coordinates of the handle in the three-dimensional space coordinate system according to the received positioning signal.
Further, the wireless response signal sent by the handle includes, but is not limited to, any one of or any combination of the following: positioning data of the handle, gesture data of the handle, electric quantity information of the handle, key control signals of the handle and sensor signal data in the handle.
In step 1302, the handle sends the positioning data of the handle in the wireless response signal for the wireless synchronization signal according to the aforementioned working sequence for realizing the positioning task, which is the three-dimensional coordinates of the handle obtained in step 1303 of the previous cycle. When the power-on initialization is performed, the handle receives the wireless synchronization signal sent by the head display locator, but the three-dimensional coordinates of the handle are not calculated according to the received positioning signal sent by the positioning base station, and the positioning data of the handle in the wireless response signal sent by the handle in the default step 1302 is (0, 0).
Further, the clock synchronization method further includes:
the handle determines the number of the wireless synchronous signals which are not received;
when the number of the unreceived wireless synchronous signals reaches a third threshold value, the wireless synchronous signals are received and the wireless response signals are sent by jumping to the next frequency according to a preset frequency hopping sequence.
Embodiments of the present application also provide a computer-readable storage medium storing one or more programs executable by one or more processors to implement the steps of the clock synchronization method as described in any one of the above.
According to the application, the synchronous signal is sent to the handle through the head display locator, and the data packet is returned to the head display locator when the handle receives the synchronous signal, so that the synchronous signal and the data transmission can be processed by the same wireless chip, so that only one wireless chip is arranged in the handle, synchronous signal receiving and data transmitting can be realized at the same time, the frequency of data transmitting is increased from 60HZ to 60 x5=300 Hz, and the communication speed and efficiency are improved.
In the application, the counter frequency of the positioning base station is unchanged, the counter frequency of the handle is increased from 60Hz to 60×5=300 Hz, and the counter frequency of time synchronization alignment is improved.
The application determines whether the wireless is interfered or not according to the packet loss condition of the data packet, and hops according to the preset sequence if the wireless is interfered, thereby improving the anti-interference performance of communication.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the methods described above may be implemented by a program that instructs associated hardware, and the program may be stored on a computer readable storage medium such as a read-only memory, a magnetic or optical disk, etc. Alternatively, all or part of the steps of the above embodiments may be implemented using one or more integrated circuits, and accordingly, each module/unit in the above embodiments may be implemented in hardware or may be implemented in a software functional module. The present application is not limited to any specific form of combination of hardware and software.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. A method of clock synchronization, comprising:
the master synchronization device transmits a wireless synchronization signal to at least one slave synchronization device according to a predetermined period; the master synchronous equipment is a head display positioner, and the slave synchronous equipment comprises at least one of a handle and a positioning base station;
the method comprises the steps that a slave synchronous device receives a wireless synchronous signal sent by a master synchronous device and sends a wireless response signal aiming at the wireless synchronous signal to the master synchronous device, wherein the wireless response signal is one or more returned data packets;
the master synchronization device determines the number of the wireless response signals which are not received;
when the number of the wireless response signals which are not received reaches a preset main synchronous frequency threshold value, the main synchronous equipment hops to the next frequency according to a preset frequency hopping sequence to send the wireless synchronous signals;
the slave synchronous equipment determines the number of the wireless synchronous signals which are not received;
when the number of the wireless synchronous signals which are not received reaches a preset slave synchronous frequency threshold, the slave synchronous equipment hops to the next frequency according to a preset frequency hopping sequence to receive the wireless synchronous signals and send wireless response signals.
2. The clock synchronization method of claim 1, wherein the slave synchronization device comprises a positioning base station and at least one handle, and the head-up positioner transmits M wireless synchronization signals to the positioning base station and N wireless synchronization signals to the at least one handle in one signal period, wherein N is greater than M.
3. The clock synchronization method of claim 1, wherein when the slave synchronization device is the handle, the data packet comprises any one or any combination of the following:
the handle comprises positioning data of the handle, gesture data of the handle, electric quantity information of the handle, key control signals of the handle and sensor signal data in the handle.
4. The clock synchronization method according to claim 1, wherein when the slave synchronization device is the positioning base station, the data packet includes any one or any combination of the following:
the electric quantity information of the positioning base station, the motor operation data of the positioning base station, the key control signals of the positioning base station and the gesture data of the positioning base station.
5. A computer readable storage medium storing one or more programs executable by one or more processors to implement the steps of the clock synchronization method of any one of claims 1 to 4.
6. The clock synchronization system is characterized by comprising a master synchronization device and at least one slave synchronization device, wherein the master synchronization device is a head display positioner, and the slave synchronization device comprises at least one of a handle and a positioning base station; wherein:
a master synchronization device for transmitting a wireless synchronization signal according to a predetermined period; determining the number of unreceived wireless response signals, and when the number of unreceived wireless response signals reaches a preset main synchronous frequency threshold value, jumping to the next frequency according to a preset frequency hopping sequence to send the wireless synchronous signals;
the slave synchronization equipment is used for receiving the wireless synchronization signal sent by the master synchronization equipment and sending a wireless response signal aiming at the wireless synchronization signal to the master synchronization equipment, wherein the wireless response signal is one or more returned data packets; determining the number of the wireless synchronous signals which are not received; when the number of the wireless synchronous signals which are not received reaches a preset slave synchronous frequency threshold, according to a preset frequency hopping sequence, the wireless synchronous signals are received by hopping to the next frequency, and wireless response signals are sent.
7. The clock synchronization system of claim 6, wherein the slave synchronization device comprises a positioning base station and at least one handle, and wherein the head-up positioner transmits M wireless synchronization signals to the positioning base station and N wireless synchronization signals to the at least one handle during one signal period, wherein N is greater than M.
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| CN111897394B (en) * | 2020-06-28 | 2022-08-05 | 北京凌宇智控科技有限公司 | Equipment pairing method, equipment pairing device and equipment pairing system |
| CN112163042B (en) * | 2020-09-24 | 2024-01-23 | 杭州安恒信息技术股份有限公司 | Multi-variable data synchronization method and device, electronic device and storage medium |
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| CN101636944A (en) * | 2007-03-15 | 2010-01-27 | 诺基亚公司 | Low bit transmission method in dvb-h transmission |
| CN106547458A (en) * | 2016-11-29 | 2017-03-29 | 北京小鸟看看科技有限公司 | A kind of virtual reality system and its space positioning apparatus |
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| CN101636944A (en) * | 2007-03-15 | 2010-01-27 | 诺基亚公司 | Low bit transmission method in dvb-h transmission |
| CN106547458A (en) * | 2016-11-29 | 2017-03-29 | 北京小鸟看看科技有限公司 | A kind of virtual reality system and its space positioning apparatus |
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