CN108809469A - Time transfer receiver synchronized algorithm suitable for radar pulse communication equipment networking - Google Patents
Time transfer receiver synchronized algorithm suitable for radar pulse communication equipment networking Download PDFInfo
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- CN108809469A CN108809469A CN201810710936.1A CN201810710936A CN108809469A CN 108809469 A CN108809469 A CN 108809469A CN 201810710936 A CN201810710936 A CN 201810710936A CN 108809469 A CN108809469 A CN 108809469A
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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
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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
- H04J3/0602—Systems characterised by the synchronising information used
- H04J3/0605—Special codes used as synchronising signal
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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
- H04J3/0602—Systems characterised by the synchronising information used
- H04J3/0605—Special codes used as synchronising signal
- H04J3/0608—Detectors therefor, e.g. correlators, state machines
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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
- H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
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Abstract
The invention discloses a kind of Time transfer receiver synchronized algorithm suitable for radar pulse communication equipment networking, radar module sends out M0 controls and signals；The host node of radar pulse communication equipment networking receives M0 control signallings from respective radar module respectively with from node；Host node and described from point-to-point simultaneously operating between node, the point-to-point simultaneously operating process needs 3 communication time slots, respectively the first time slot, the second time slot, third time slot.The present invention realizes the whole network precise synchronization effect under formation networking model.
Description
Technical field
The present invention relates to a kind of radar pulse fields of communication technology, more particularly to a kind of to be suitable for radar pulse communication equipment
The Time transfer receiver synchronized algorithm of networking.
Background technology
With the development of Modern Information war, need structure one that can be perceived whenever and wherever possible to battlefield surroundings,
Detect and can carry out the complex information network for the data transmission that high speed is stablized.Wherein, radar system all has with communication system
Particularly important effect.In order to reduce equipment volume, power consumption, the pulse communication equipment based on radar is come into being.The equipment exists
The gap of radar emission direct impulse emits communication pulse, by radar equipment high-power, antenna directive property the advantages that, it is real
The now transmission of more farther than general communication equipment distance, high-speed.
In the design of radar pulse communication equipment, the division of time slot that communication pulse occupies has the performance of system important
It influences.It in view of the demand of battlefield radar formation networking, needs dynamically to divide time slot for each equipment, to realize joint work
Make.This requires in the formation network of radar-communication integration equipment, it is desirable that each equipment is under a unified absolute time
Associated working.However, in fact, each equipment is in booting, local zone time is different, therefore, it is necessary first to formation net
Equipment (hereinafter referred to as " node ") in network synchronizes.Although can using external clock (such as Beidou satellite system) time service strategy
To realize the time synchronization of each node, but the robustness of system can be reduced by being completely dependent on external clock time service, in satellite-signal
It is interfered or easily causes the paralysis of whole network in the case of destroying.Therefore, radar-communication integration equipment formation net
Network must have the self synchronous ability of node, i.e., all nodes all carry out time synchronization with Centroid, are finally reached the whole network
Clock is unified.
Currently, the existing more research that synchronizes about radar network composite, such as patent document " Fan Lingang, Chen Zezong, Zhao
The clock synchronization control method and its device of morning high-frequency ground wave radar networking:CN, CN101738600A [P] .2010. " and text
Offer " Liu Jiye, Chen Xihong, Liu Qiang, wait new method [J] the electric light of bistatic radar time synchronizations of a kind of and control, and 2014,21
(4):10-14. " etc., the synchronization being all made of between the method realization master-slave equipment that two-way time delay compares.However, radar pulse is logical
Believe equipment formation networking due to needing radar pulse and communication pulse to each user to carry out time slot division so that radar module
It cooperates with communication module, synchronizing process is increasingly complex, is there is no at present about radar pulse communication equipment formation networking
The research of Time synchronization algorithm.
Invention content
The technical problem to be solved by the present invention is to overcome the defect of the above-mentioned prior art, provide logical suitable for radar pulse
Believe the Time transfer receiver synchronized algorithm of equipment network.
In order to solve the above technical problems, the present invention provides the Time transfer receiver suitable for radar pulse communication equipment formation networking
Synchronized algorithm, for realizing the whole network precise synchronization effect under formation networking model.
The technical scheme is that：
Suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking,
Radar module sends out M0 controls and signals；
The host node of radar pulse communication equipment networking is transmitted from the reception M0 controls of respective radar module respectively with from node
Number；
Host node and described from point-to-point simultaneously operating between node, the point-to-point simultaneously operating process need 3 it is logical
Believe that time slot, respectively the first time slot, the second time slot, third time slot, specific implementation include the following steps：
Step 1：Host node sends handshake packet CT1 when receiving M0 controls and signaling in the first time slot, sends handshake packet
Host node starts the first timer Timer1 and starts timing and monitoring signal while CT1, waits handshake packet CT2 to be received, shakes hands
It wraps CT1 to reach from node after propagated delay Δ T, is continued for monitor channel from node, waits handshake packet to be received
CT1 is successfully received after handshake packet CT1 and is decoded processing immediately, and is opened at the time of relevant peaks in detecting handshake packet CT1
Dynamic second timer Timer2 starts timing, and M0 controls is waited for signal, and handshake packet CT1 signals are reached from node to from nodal test
The time for going out relevant peaks in handshake packet CT1 is t1, and the t1 is fixed known quantity；
Step 2：After being successfully received handshake packet CT1 packets in the first slot from node, continue waiting for until at second
After receiving M0 control signallings in gap, starts to send handshake packet CT2, start comprising the second timer Timer2 in handshake packet CT2
Timing is to the time t2 for starting to send the handshake packet CT2 moment, and host node detects relevant peaks in the second time slot, and host node is to holding
Handbag CT2 packets are decoded, and are obtained and are sent timing to handshake packet CT2 since the second timer Timer2 of node-node transmission
The time t2 at moment, host node according in handshake packet CT2 comprising the second timer Timer2 start timing to start send shake hands
The first timer Timer1 timing total times T when wrapping the time t2 at CT2 moment and receiving handshake packet CT2, calculate propagated
Be delayed Δ T, and calculation formula is：T=Δ T+t1+t2+ Δ T+t1 obtain propagated delay Δ T=(T-2*t1-t2)/2；
Step 3：Host node is successfully received handshake packet CT2 in the second time slot and calculates propagated delay Δ T
Afterwards, it continues waiting for sending handshake packet CT3 after being received again by M0 controls and signaling, includes currently to start to send in handshake packet CT3
Moment host node absolute time Time and propagated delay Δ T wait to be received hold from node in third time slot monitoring signal
Handbag CT3 after being properly received handshake packet CT3, reads the propagated in handshake packet CT3 by decoding and is delayed Δ T and current
The absolute time Time of moment host node, since node, timing connects up to entire data packet third time slot detects relevant peaks
The time harvested is t3, and when entire data packet finishes receiving, the present system time of whole network is host node absolute time
Time, propagated delay Δ T, handshake packet CT1 signals reach from node to from nodal test and go out relevant peaks in handshake packet CT1
Time t1, since the total of the node time t3 that timing is finished receiving up to entire data packet third time slot detects relevant peaks
With.
Preferably, the host node is 1, is multiple from node.
Preferably, the host node signals to be mutually solely with the M0 controls received from respective radar module respectively from node
Vertical.
Preferably, further include that the slave node not synchronized fails to be properly received handshake packet CT3 in third time slot, continue back at prison
Listen the state of channel.
Preferably, to further include slave node to having synchronized fail for continuous 3 times in third time slot receives handshake packet CT3,
Become not synchronous from node.
Preferably, further include synchronous calibration method, the synchronous calibration method is periodically by the point-to-point synchronous behaviour
Make carry out clock alignment, the frequency of clock alignment is maximum by algorithm worst error Te1, clock stability Te2, formation group network system
Allowable error Te determines that the time interval Tx of clock alignment should meet Te1+Tx*Te2 jointly<Te, i.e. Tx<(Te-Te1)/Te2,
The clock stability Te2 is the clock of the different nodes maximum deviation time per second.
Preferably, further include with it is described be suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking it is corresponding
Training sequence frame structure, the training sequence frame structure includes targeting sequencing, frame head, frame.
Preferably, the frame includes synchronizing information, valid data and unique word UW, and the unique word UW length is 32 symbols
Number, the valid data length is 960 symbols, and the synchronizing information is divided into 4 sections, and every section of 32 symbols are modulated, each using QPSK
Symbol includes 2 bit informations, and totally 256 bits are used for transmission time synchronization information, time synchronization information raw information totally 15 byte,
The check code for adding 1 byte is encoded using RS (32,16).
Preferably, the host node is transmitted with 116 bit informations are respectively needed from node, and 12 are added after 116 bit informations
The check bit of bit, then add check bit to encode the information of 128 bits, coding is encoded using RS (32,16), m=8.
Preferably, further include that the point-to-point time synchronization error is less than 50ns, convergence time is less than 10 communication pulses
Time slot, clock synchronization operation interval are more than 1s.
The advantageous effect that the present invention is reached：
The present invention is suitable for the formation networking of radar pulse communication, can fast implement Time transfer receiver synchronization.The algorithm is logical
It crosses M0 controls to signal to realize the collaborative work of radar module and communication module so that whole network has accurate motor synchronizing energy
Power reduces dependence of the radar formation networking to external time service, improves the robustness of system.The algorithm is suitable for having center
Formation network, tool respectively carries out to Centroid same there are one Centroid and multiple ordinary nodes, by each node
It walks to realize the time synchronization of the whole network.The algorithm gives frame structure design scheme, includes synchronizing information, profit in communication pulse
The ability of certain antinoise and interference is realized with strong error correcting code.Node is not synchronized for what is newly networked, and the algorithm is using twice
Shake hands realize main and subordinate node between exact time synchronization；For the node synchronized in network, per when carrying out at regular intervals
Between synchronized tracking, to realize stable synchronization.Actual measurement shows, using the algorithm, to ensure that the synchronous error between node is low
In 50ns；Convergence time is less than 10 communication burst time slots；There is good support to the mobility of node, in node motion speed
Stable synchronization can be realized in the case of less than 60km/h.The present invention solves the formation networking scene of radar pulse communication equipment
Under, the motor synchronizing problem of network.In battlefield, the fields such as integral information systems have wide application potential.
Description of the drawings
Fig. 1 is the radar pulse communication equipment formation group network system schematic diagram of the present invention.
Fig. 2 is the time slot flow diagram in a pair of of main and subordinate node synchronizing process of the present invention.
Fig. 3 is the flow diagram of the step one of the present invention.
Fig. 4 is the step one and step 2 flow diagram of the present invention.
Fig. 5 is the step one of the present invention, Step 2: step 3 flow diagram.
Fig. 6 is the frame structure schematic diagram of the present invention.
Fig. 7 is distribution and the coding schematic diagram of the synchronizing information of the present invention.
Fig. 8 is testing process schematic diagram of the present invention.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Embodiment 1
As shown in Figure 1, the present invention is by being a Centroid (main section by radar-communication integration formation network abstraction
Point) network that is constituted with multiple ordinary nodes (from node), realize the synchronizing process between Centroid and each ordinary node.
Synchronizing process between Centroid and each ordinary node can be decomposed into 1 host node and 1 from the point between node
To a time synchronization operation.By Time transfer receiver synchronized algorithm, each node exports lock-out pulse, and according to the time of host node
Correct the local zone time from node.It is finally all that local zone time is synchronized on master time from node.
The synchronic command M0 sent out by receiving radar module, synchronizing information is included in data pulse frame, to set
The standby Time transfer receiver synchronizing function that equipment room is completed at the same time during completing pulse data and transmitting and receiving.Time transfer receiver synchronizes
Information and business datum simultaneous transmission, synchronizing information, which occupies, in each time slot is not more than 32 bytes, strong using noise resisting ability
Modulation system ensures reliability using strong error detection and mechanism for correcting errors.
The algorithm can reach following indexs：
1) error of point-to-point time synchronization is less than 50ns；
2) duration error tracking can be carried out after synchronously completing, and prevent deviation caused by clock drift between node,
Ensure to be in time synchronization state always, clock synchronization operation interval is more than 1s；
3) convergence state can be reached after 10 continuous impulse time slots；
4) supporting node mobile context, node motion speed：<=60km/h；
1. Time transfer receiver synchronizes
Centroid (host node) in network should manually be selected when network is started to work, remaining node should all be set
For ordinary node (from node).The time synchronization process of each ordinary node is not interfere with each other, thus can be by the synchronization behavior letter of node
Turn to a host node and a point-to-point synchronous behavior from node.
Host node and the control that the synchronic command M0 that radar module is sent out is received from node, emit when receiving M0 signals
Lock-out pulse.Main and subordinate node receives M0 signals from respective radar module respectively, therefore received M0 signals are mutually solely
Vertical, and the position of M0 signals triggering needs to include certain design, and the function of interference is eliminated between being received and dispatched with satisfaction.
As shown in Fig. 2, synchronizing process needs three communication time slots, when respectively the first time slot, the second time slot, third
Gap, for host node in a network by as time reference, which will control signalling to execute according to the local zone time of oneself with M0
Respective synchronization process.When M0 signals arrive, host node is in its communication time slot, sends lock-out pulse, opens synchronizing process.
Persistently channel will be monitored before synchronizing from node.For the slave node newly to network, when listening to the same of host node transmitting
When pace pulse, it will attempt to carry out time synchronization to host node passback lock-out pulse；For the slave node synchronized, then utilize same
Pace pulse carries out time calibration on the basis of host node.Synchronous process is described below in detail：
Step 1：As shown in figure 3, host node sends handshake packet CT1 when receiving M0 trigger signals in the first time slot.Hair
While sending CT1, host node starts timer Timer1 and monitor channel, waits handshake packet CT2 to be received.Handshake packet CT1 passes through
It is reached from node after propagated delay Δ T.It is continued for monitor channel from node, waits handshake packet CT1 to be received.If successfully connecing
CT1 is received, then is decoded processing immediately, and start timer Timer2 at the time of relevant peaks in detecting CT1, waits for M0
The arrival of signal, Δ T be synchronize needed for the propagated time delay that finds out, t1 is to be examined from node CT1 signals to reaching from node
Measure the time of training sequence relevant peaks in CT1.T1 is determined by frame structure and front-end processing time delay, is one fixed known
Amount；
Step 2：As shown in figure 4, after node is successfully received CT1 packets in time slot 1, wait for, until in time slot 2
After the M0 control signallings for receiving this equipment, opened to CT2 when starting to send in handshake packet CT2, CT2 comprising Timer2 timers
The time t2 of beginning delivery time.
If host node detects that relevant peaks, i.e. host node have been properly received CT2 in time slot 2, then show that there are one from section
Point has received the CT1 that host node is sent in time slot 1 and has replied CT2.Host node is decoded CT2 packets, obtains from node
Start the time t2 of delivery time when the Timer2 timers of transmission to CT2, when host node is according to t2 and reception CT2
Total time T when Timer1 timers, timing situation calculate the one way propagation delay Δ between this node and the neighbours for replying CT2
T。
Calculation formula is as follows：
T=Δ T+t1+t2+ Δs T+t1
It obtains：
Δ T=(T-2*t1-t2)/2
Step 3：As shown in figure 5, host node is successfully received handshake packet CT2 in time slot 2 and calculates propagation delay Δ
After T, waits until and be received again by transmission handshake packet CT3 after M0 controls are signaled.Start the main section of delivery time comprising current in CT3
Point absolute time and propagated delay Δ T.From node in 3 monitor channel of time slot, handshake packet CT3 to be received is waited.If at
Work(receives handshake packet CT3, then by decoding the absolute of the single line propagation delay Δ T and current time host node that read in CT3
Time Time.Meanwhile since the node time that timing is finished receiving up to entire data packet detecting relevant peaks being t3, then
When entire data packet finishes receiving, present system time=host node absolute time Time+ propagateds delay of whole network
ΔT+t1+t3。
For not synchronous slave node, the present system time for compareing whole network adjusts the local zone time of oneself, from
And host node is completed to being operated from the time service of node.If non-synchronization node fails to be properly received CT3 in time slot 3, continue back at
The state of monitor channel.For the slave node synchronized, the Δ T solved from data packet will be for correcting from the local of node
Time slot dividing condition.Receive CT3 if having synchronized and having failed for 3 continuous 3 times in time slot from node, role become it is not synchronous from
Node.
Host node timing when delivery time starts exports lock-out pulse after t1+ Δ T times, is being detected from node
Lock-out pulse is exported when to relevant peaks.The synchronization pulse of main and subordinate node output at this time is fully synchronized in time.
So far, the Time transfer receiver synchronizing process between a main and subordinate node is completed.
2. synchronizing rear clock alignment and tracking
When from node completion synchronize after, we can be assumed that it is any from node all in absolute time and time frame
It completes to synchronize on beginning position, the slave node after synchronizing can normally work in systems.But after a period of time, due to master
From the cumulative effect of the minute differences in nodal clock period can lead to main and subordinate node between time error it is increasing, thus need logical
Synchronous calibration method above-mentioned is crossed regularly to calibrate the clock from node.The frequency of clock alignment is by algorithm worst error
Te1, clock stability (clocks of i.e. different nodes maximum deviation time per second) Te2, the maximum allowable mistake of formation group network system
Poor Te determines that the time interval Tx of clock alignment should meet jointly,
Te1+Tx*Te2<Te
That is, Tx<(Te-Te1)/Te2
In practical operation, the time interval of clock alignment can be slightly less than Tx, to ensure that system can stablize synchronization
Work.
3. frame structure design
To adapt to the demand of radar pulse communication equipment beyond-the-horizon communication, frame structure design needs emphasis consideration to draw anti-multipath
The intersymbol interference risen.The present invention uses the frame structure containing training sequence, as shown in fig. 6, for frame structure schematic diagram and each
Partial symbolic number completes automatic growth control (AGC), thick frame synchronization, thick Nonlinear Transformation in Frequency Offset Estimation, fine frame synchronization, most jointly
Good sampled point is determining, fine Nonlinear Transformation in Frequency Offset Estimation, signal-to-noise ratio (SNR) estimation and channel estimation, training sequence include targeting sequencing,
Frame head and frame three parts, and frame is made of synchronizing information, valid data (data to be sent) and unique word UW.Its
In, 330 symbol of preamble sequence length, 342 symbol of frame head, unique word UW is 32 symbols, and valid data length is 960 symbols.Together
Step information is divided into 4 sections, and every section of 32 symbols are modulated using QPSK, and each symbol includes 2 bit informations, totally 256 bits (32 words
Section) it is used for transmission time synchronization information.Time synchronization information raw information totally 15 byte, adds the check code of 1 byte, so first
RS (32,16) is used to encode afterwards, it is ensured that the correctness of time synchronization information.
The bit of time synchronization information part distributes and encoding scheme, as shown in fig. 7, the length of time synchronization comparison information position
Degree is 116 bits, is followed by the check bit of 12 bits.The information of 128 bits adds check bit to be message segment, to the letter of 128 bits
Breath plus check bit carry out RS (32,16) and encode, and m=8 is extended to 256 bits.Finally, coded data is dispersed in frame structure
Four data blocks in, be interleaved coding.In addition there is the supervision section of 128 bits.
The time synchronization comparison information of 116 bits includes：The node ID of 8 bits, the lock-out pulse ID of 8 bits, 70 bits
System absolute time Time, 30 bit path propagation delay Δ T (host node) or 30 bits send stand-by period t2 (from node).
System absolute time Time includes Hour Minute Second millisecond date, information microsecond nanosecond, each temporal information occupied information bit number,
As shown in table 1,70 bits are occupied altogether.Propagated time delay Δ T includes millisecond microsecond nanosecond information, and each temporal information occupies letter
Breath bit number occupies 30 bits altogether as shown in table 2.The information bit occupied from the temporal information t2 of node-node transmission, such as table 3
It is shown, 30 bits are occupied altogether.
1 system absolute time Time occupied information bits of table distribute
| System absolute time | Year | Month | Day | When | Point | Second | Millisecond | Microsecond | Nanosecond |
| Bit number | 14 | 4 | 5 | 5 | 6 | 6 | 10 | 10 | 10 |
2 propagated time delay Δ T occupied information bits of table distribute
| Propagated is delayed | Millisecond | Microsecond | Nanosecond |
| Bit number | 10 | 10 | 10 |
Table 3 is distributed from the temporal information t2 occupied information bits of node-node transmission
| Send stand-by period t2 | Millisecond | Microsecond | Nanosecond |
| Bit number | 10 | 10 | 10 |
4. emulation experiment
Based on the carried Time transfer receiver synchronized algorithm of the present invention, the networking synchronization of radar pulse communication equipment model machine is carried out
Actual measurement makees further verification explanation below by measured result to the present invention.
It is illustrated in figure 8 the testing process schematic diagram of the present invention.Distance relation, cable 1 and electricity between consideration master-slave equipment
Cable 2 will select long cable (being more than 30 meters).Frequency spectrograph is used to show the spectral characteristic of input signal, and reference clock is for when observing
Between.When starting test, the parameters of master and slave node device are respectively set in control computer 1, control computer 2.Test item
Mesh and result are as follows：
(1) synchronization accuracy is tested
It controls signalling generator and generates M0 control signallings；Whether there are synchronizing signal 1, synchronizing signal 2 on observation oscilloscope, surveys
Measure time difference between the two.In actual measurement, oscilloscope measurement synchronizing signal difference is no more than 50ns.
(2) synchronous convergence time test
It controls the generation M0 controls of signalling generator to signal, sends two M0 control signallings to main equipment, sent to from equipment
Two M0 controls are signaled；Whether there are synchronizing signal 1, synchronizing signal 2 on observation oscilloscope, while observing M0 control signalling numbers.
In actual measurement, completes 4 controls of subsynchronous needs and signal, i.e., the algorithm is completed together in the continuous impulse time slot within 10
Step.
(3) synchronized tracking is tested
It controls signalling generator and generates M0 control signallings；Whether there are synchronizing signal 1, synchronizing signal always on observation oscilloscope
2, it observes 5 minutes.In actual measurement, synchronizing signal can be observed on oscillograph always, and difference is no more than 50ns.That is the algorithm
It can steadily realize synchronized tracking.
(4) time synchronization operating interval is tested
It controls signalling generator and generates M0 control signallings, sync interval 1s is arranged in software interface.
Synchronizing signal 1, synchronizing signal 2 on observation oscilloscope repeatedly measure time difference between the two.In actual measurement, show
Wave device repeatedly measures synchronizing signal difference and is no more than 50ns, i.e. the algorithm can be realized steady in the case where sync interval is 1s
Fixed synchronization.
(5) node motion velocity test
In view of main and subordinate node is mobile difficult in laboratory conditions, this tests using replacement test method.Node moves
It is different to move propagated distance in the problem of bringing inherently different time-gap, so utilizing cable 1 and cable 2 in testing
Length difference come analog node movement environment.Two maximum displacement distances of time slot interior nodes are 0.167 meter, therefore are selected
Cable 1 is 50 meters, and cable 2 is 50.167 meters.
After controlling the generation M0 control signallings of signalling generator, synchronizing signal 1, synchronizing signal 2 on observation oscilloscope measure two
Time difference between person.In actual measurement, oscilloscope measurement synchronizing signal difference is no more than 50ns, shows that the algorithm can ensure
Node motion speed realizes stable time synchronization when being not more than 60km/h.
(6) time synchronization information is tested
It is arranged to data-transmission mode in control computer, by noise source plus noise until being sent by control computer
PN23 codes in have error code appearance.Then, control computer is arranged to synchronous mode, and control signalling generator generates M0 controls and transmits
Number；Synchronizing signal 1, synchronizing signal 2 on observation oscilloscope measure time difference between the two.In actual measurement, oscilloscope measurement is same
It walks signal difference and is no more than 50ns, show that the algorithm can be by believing time synchronization carrying out Error Correction of Coding ensures certain anti-noise
Acoustic energy power.The correctness of the experimental verification present invention, validity and reliability.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of Time transfer receiver synchronized algorithm suitable for radar pulse communication equipment networking, it is characterised in that：
Radar module sends out M0 controls and signals；
The host node of radar pulse communication equipment networking receives M0 control signallings from respective radar module respectively with from node；
Host node and described from point-to-point simultaneously operating between node, when the point-to-point simultaneously operating process needs 3 communication
Gap, respectively the first time slot, the second time slot, third time slot, specific implementation include the following steps：
Step 1：Host node sends handshake packet CT1 when receiving M0 controls and signaling in the first time slot, sends handshake packet CT1's
Host node starts the first timer Timer1 and starts timing and monitoring signal simultaneously, waits handshake packet CT2 to be received, handshake packet CT1
It is reached from node after propagated delay Δ T, is continued for monitor channel from node, waits handshake packet CT1 to be received, success
It is decoded processing immediately after receiving handshake packet CT1, and starts the second meter at the time of relevant peaks in detecting handshake packet CT1
When device Timer2 start timing, wait for M0 controls to signal, handshake packet CT1 signals, which are reached from node to from nodal test, goes out handshake packet
The time of relevant peaks is t1 in CT1, and the t1 is fixed known quantity；
Step 2：After being successfully received handshake packet CT1 packets in the first slot from node, continue waiting for until in the second time slot
After receiving M0 control signallings, start to start timing comprising the second timer Timer2 in transmission handshake packet CT2, handshake packet CT2
To the time t2 for starting the transmission handshake packet CT2 moment, host node detects relevant peaks in the second time slot, and host node is to handshake packet
CT2 packets are decoded, and obtain since the second timer Timer2 of node-node transmission delivery time timing to handshake packet CT2
Time t2, host node starts timing to starting to send handshake packet CT2 according in handshake packet CT2 comprising the second timer Timer2
The first timer Timer1 timing total times T when the time t2 and reception handshake packet CT2 at moment, calculate propagated delay Δ
T, calculation formula are：T=Δ T+t1+t2+ Δ T+t1 obtain propagated delay Δ T=(T-2*t1-t2)/2；
Step 3：After host node is successfully received handshake packet CT2 in the second time slot and calculates propagated delay Δ T, after
Continuous wait for sends handshake packet CT3 after being received again by M0 controls and signaling, and starts delivery time master comprising current in handshake packet CT3
Node absolute time Time and propagated delay Δ T wait handshake packet to be received from node in third time slot monitoring signal
CT3 after being properly received handshake packet CT3, reads the propagated in handshake packet CT3 by decoding and is delayed Δ T and current time
The absolute time Time of host node, since node, timing has been received up to entire data packet third time slot detects relevant peaks
At time be t3, when entire data packet finishes receiving, the present system time of whole network be host node absolute time Time,
Propagated is delayed Δ T, the arrival of handshake packet CT1 signals from node to the time for going out relevant peaks in handshake packet CT1 from nodal test
T1, since the summation of the node time t3 that timing is finished receiving up to entire data packet third time slot detects relevant peaks.
2. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as described in claim 1, feature exists
In：The host node is 1, is multiple from node.
3. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as described in claim 1, feature exists
In：The host node signals to be independent from each other with the M0 controls received from respective radar module respectively from node.
4. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as described in claim 1, feature exists
In：Further include that the slave node not synchronized fails to be properly received handshake packet CT3 in third time slot, continues back at the shape of monitor channel
State.
5. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as described in claim 1, feature exists
In：To further include slave node to having synchronized fail for continuous 3 times in third time slot receives handshake packet CT3, become it is not synchronous from
Node.
6. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as described in claim 1, feature exists
In：Further include synchronous calibration method, the synchronous calibration method is periodically by the point-to-point simultaneously operating into row clock school
The frequency of standard, clock alignment is total to by algorithm worst error Te1, clock stability Te2, formation group network system margin of error Te
With determining, the time interval Tx of clock alignment should meet Te1+Tx*Te2<Te, i.e. Tx<(Te-Te1)/Te2, the clock stable
Te2 is spent for the clock of the different nodes maximum deviation time per second.
7. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as described in claim 1, feature exists
In：Further include being suitable for the corresponding training sequence frame of the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking with described
Structure, the training sequence frame structure include targeting sequencing, frame head, frame.
8. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as claimed in claim 7, feature exists
In：The frame includes synchronizing information, valid data and unique word UW, and the unique word UW length is 32 symbols, described effective
Data length is 960 symbols, and the synchronizing information is divided into 4 sections, and every section of 32 symbols are modulated using QPSK, and each symbol includes 2 ratios
Special information, totally 256 bits be used for transmission time synchronization information, time synchronization information raw information totally 15 byte, 1 byte of addition
Check code is encoded using RS32 or RS16.
9. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as claimed in claim 8, feature exists
In：The host node is transmitted with 116 bit informations are respectively needed from node, and the check bit of 12 bits is added after 116 bit informations,
Check bit is added to encode the information of 128 bits again, coding is encoded using RS32 or RS16, m=8.
10. being suitable for the Time transfer receiver synchronized algorithm of radar pulse communication equipment networking as described in claim 1, feature exists
In：Further include that the point-to-point time synchronization error is less than 50ns, convergence time is less than 10 communication burst time slots, and clock synchronizes
Operating interval is more than 1s.
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