CN109039512B - A kind of the photoelectric sensor network clock synchronization system and method for extensive R-LATs measuring system - Google Patents
A kind of the photoelectric sensor network clock synchronization system and method for extensive R-LATs measuring system Download PDFInfo
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- CN109039512B CN109039512B CN201810777675.5A CN201810777675A CN109039512B CN 109039512 B CN109039512 B CN 109039512B CN 201810777675 A CN201810777675 A CN 201810777675A CN 109039512 B CN109039512 B CN 109039512B
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- H—ELECTRICITY
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- 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
- H04J3/16—Time-division multiplex systems in which the time allocation to individual channels within a transmission cycle is variable, e.g. to accommodate varying complexity of signals, to vary number of channels transmitted
- H04J3/1605—Fixed allocated frame structures
- H04J3/1652—Optical Transport Network [OTN]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/16—Time-division multiplex systems in which the time allocation to individual channels within a transmission cycle is variable, e.g. to accommodate varying complexity of signals, to vary number of channels transmitted
- H04J3/1605—Fixed allocated frame structures
- H04J3/1652—Optical Transport Network [OTN]
- H04J3/1664—Optical Transport Network [OTN] carrying hybrid payloads, e.g. different types of packets or carrying frames and packets in the paylaod
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Abstract
The present invention a kind of the photoelectric sensor network clock synchronization system and method for extensive R-LATs measuring system, the clock between each node in sensor network is united by way of synchronizable optical, by the way of multiple datum nodes, nodal clock unification and angle calculation are carried out in host computer.To improve the measurement accuracy of whole system, limitation of the Reference BTS to systematic survey range is removed.It ensures the equivalence between sensor network nodes, improves system expansion capability, and do not influence the arrangement manner of system.By unified synchronization optical signal, the information in R-LATs system sensor network between each sensor node is interacted, avoids interfering with each other between Reference BTS and emitter signal, therefore datum node can be increased.It can limitation with effective solution Reference BTS to R-LATs system arrangement manner and measurement range by the number for increasing datum node and the arrangement for changing synchronizable optical light belt.
Description
Technical field
The invention belongs to large scale space measurement fields, are related to extensive rotary laser transit survey network (R-LATs)
Networking measurement, specially a kind of the photoelectric sensor network clock synchronization system and method for extensive R-LATs measuring system.
Background technique
Rotary laser theodolite network (R-LATs) is a kind of important method of large scale space measurement, passes through conjunction in principle
The cloth station of reason, may be implemented the measurement spatial spread of arbitrary dimension, and have unlimited number of parallel measurement ability.It is measured
Precision is able to maintain in ± 0.2mm, is widely used in the aviations boats such as aircraft manufacturing, shipbuilding, large-scale antenna manufacture at present
It and military field.
As shown in Fig. 1, in conventional R-LATs work, each rotary laser theodolite, which issues two, has angle
Fan-shaped plan light, and at the uniform velocity turned round according to command speed, meanwhile, the zero point in each angle of revolution triggers benchmark by planar light
Base station makes it issue the pulsed light of a covering total space.In this way, a photoelectric sensing in the inswept space of these three optical planes
Device P is allowed to obtain three time-triggered signals.At this moment, the revolving speed based on these three time signals and rotary laser theodolite, can
To determine the unique ray L in space, pass through rotary laser theodolite lasing area launch center point O and photoelectric sensing
Device P.In this way, their space line L is intersected in a bit in space when there are two to rotate above laser transit, as pass
The spatial position point of sensor P.Therefore, after the relative space position of rotary laser theodolite determines, large scale sky can be realized
The measurement of coordinates of interior photoelectric sensor.
For the measurement for meeting large space range, the laser rotary theodolite quantity in R-LATs system can be very more, far
More than 4~8 of general cell composition, in some instances it may even be possible to reach up to a hundred, the quantity of sensor network interior joint also will substantially increase
Add.Each sensor node receives three pulse signals of each rotary laser theodolite sending and is identified, to guarantee
R-LATs measures the calculating of photoelectric sensor coordinate in field.However, when there are a large amount of rotary laser theodolites, in face of measurement pair
As mobile task, such as AGV navigation, photoelectric sensor needs the effective planar light letter for screening each transmitter in full measurement field
Number and reference signal, but the probability that the received planar light signal of sensor node and reference signal overlap greatly increases, and
The measurement range of system will be limited by Reference BTS.This will cause photoelectric sensor node that can not correctly screen each transmitting
The planar light signal and reference signal of machine, measurement range directly contribute R-LATs since the limitation of Reference BTS reduces extreme
Systematic survey inefficiency, measurement range is limited, and gross error increases, and becomes a bottleneck of R-LATs measurement network application.
Summary of the invention
For in extensive rotary laser theodolite cloth station networking operating condition, the received planar light signal of sensor node and
Reference signal easily overlaps, to generate gross error, and Reference BTS need to receive each rotary laser theodolite
The problem of issuing planar light signal, causing system cloth station to be further limited and measurement range is caused to reduce.A kind of big rule of the invention
The photoelectric sensor network clock synchronization system and method for mould R-LATs measuring system, using removal Reference BTS triggering benchmark letter
Number thought remove limitation of the Reference BTS to systematic survey range, make to pass by the phototiming of synchronous sensor network clocking
The mutual information of sensor node can interact.
In order to achieve the above objectives, the present invention is achieved by the following scheme:
A kind of photoelectric sensor network clock synchronization method of extensive R-LATs measuring system, includes the following steps,
Step 1, synchronous optical signal is persistently emitted in measurement space, the synchronization optical signals standard has coding
The pulse control of information, and by setting timing flashing；
Step 2, each node in sensor network receives in synchronous optical signal and extensive R-LATs measuring system
Identification extraction is carried out after the planar light signal of rotary laser theodolite respectively, and is uploaded to host computer；
Step 3, host computer Survey Software decodes synchronous optical signal, receives all nodes in sensor network
The synchronization optical signal moment be mapped, and will be received between adjacent two synchronous optical signals planar light signal at the time of
It is converted under the clock cycle of synchronous optical signal, completes the synchronous correction to R-LATs system sensor network clock；
Step 4, the planar light signal after synchronous correction is analyzed and processed, by least one sensing after correction
The location information of tested node is calculated as datum node in device.
Preferably, in step 1, synchronous optical signal is persistently emitted in measurement space, can be covered in sensor network
Each node.
Preferably, in step 2, the identification of sensor network interior joint includes that the rotation of signal type, sending planar light swashs
The type of light theodolite ID and planar light.
Preferably, in step 3, for the clock of each node in sensor network as a time shaft, what is received is same
Step optical signal is equivalent to scale, the scale of the synchronization optical signal of each node is mapped on a timeline, adjacent two
It is converted under the synchronizable optical clock cycle and is corresponded in same time shaft at the time of the planar light signal received between a synchronization signal
On, complete the correction to R-LATs system sensor network clock.
Preferably, in step 4, one of datum node is selected, provides every turn one for each rotary laser theodolite
The zero signal of initial position is enclosed, completes to calculate the corner of rotary laser theodolite in extensive R-LATs measuring system.
Preferably, the position of datum node is fixed after the completion of system calibrating, by judging signal between benchmark and benchmark
Relationship judge there there is unchanged datum node position in sensor network, to judge whether systematic survey reliable.
A kind of photoelectric sensor network clock synchronization system of extensive R-LATs measuring system, including for persistently emitting
The synchronization photosystem of synchronous optical signal, for passing through the processing unit of measurement sensor receiving plane optical signal and synchronous optical signal
With the host computer for data processing and calculating；
The synchronization photosystem includes,
FPGA module, for generating the pulse control signal with encoded information of standard；
LED drive circuit generates driving signal for more pulse control signal；
LED synchronizing lamp band, it is lasting to emit synchronous optical signal for issuing the flashing of setting timing according to driving signal.
Preferably, a plurality of synchronizable optical band is arranged in measurement space, can receive for each node in sensor network
To synchronous optical signal.
Preferably, LED drive circuit includes sequentially connected metal-oxide-semiconductor driving circuit and metal-oxide-semiconductor switching circuit.
It is compared with the prior art, the invention has the following beneficial technical effects:
A kind of photoelectric sensor network clock synchronization method of extensive R-LATs measuring system of the present invention, passes through synchronizable optical
Mode the clock between each node in sensor network is united, by the way of multiple datum nodes, upper
Nodal clock unification and angle calculation are carried out in the machine of position.To improve the measurement accuracy of whole system, removal Reference BTS is to being
The limitation for measurement range of uniting.It ensures the equivalence between sensor network nodes, improves the expansion capability of system, and not
The arrangement manner of influence system.By unified synchronization optical signal, make each sensor section in R-LATs system sensor network
Information between point can interact, therefore can increase datum node, avoid between reference signal and planar light signal
Interfere with each other.For the measurement accuracy for guaranteeing system, the position of datum node cannot change after the completion of system calibrating, lead to
The arrangement crossed the number for increasing datum node and change synchronizable optical light belt can be with effective solution Reference BTS to R-LATs system cloth
The limitation of mode of standing and measurement range.
Further, it is to sentence by judging the relationship of signal between benchmark and benchmark the advantages of multiple datum nodes
There is unchanged datum node position in link sensor network, so that whether reliable, to improve the survey of system if judging systematic survey
Measure reliability.
Detailed description of the invention
Fig. 1 is existing R-LATs measuring system operation schematic diagram.
Fig. 2 is the R-LATs measuring system operation schematic diagram under inventive network clock synchronizing method.
Fig. 3 is the structural principle block diagram of inventive network clock system.
Specific embodiment
The present invention is a kind of photoelectric sensor network clock synchronization method of extensive R-LATs measuring system, includes simultaneously
The host computer general control software and slave computer sensor network nodes of synchronous optical signal triggering and R-LATs system handle design, such as scheme
Shown in 2 and Fig. 3, particular content is as follows.
Clock Synchronization Technology principle and general introduction:
Here clock synchronization concept is different from Internet, is not that progress clock is synchronous between sender and recipient,
But sensor network nodes must be kept the identical time under certain deviation.The dominant frequency of this system hardware determines sensor
The clock resolution of network node is 6.6ns, and resolution ratio is higher and the measurement space of system covering is larger.Due to the propagation of light
Speed quickly and is easy to the triggering and reception of sensor network, therefore using light as clock synchronous medium.Therefore, which claims
For synchronizable optical technology.
The core that synchronizable optical technology is implemented is under the clock unification to the clock of synchronizable optical by processor each in network.It makes
At there are two the skimble-scamble main causes of clock: first is that each clock starting point cannot be guaranteed it is completely the same, second is that each clock
Crystal oscillator frequency is inconsistent.
The data processing of each node uses FPGA+ARM dual core processor, each processor in R-LATs sensor network
In clock source it is mutually indepedent, data are mutually indepedent between sensor node.Synchronizable optical is to flash by coding by specific time sequence
Light pulse signal, specific time sequence can convenient for receive after decoding, reduce operand；The each biography of R-LATs sensor network
Sensor node receives the planar light signal that synchronous optical signal and rotary laser theodolite issue, and sensor node is to Signal Pretreatment
Later it being sent to host computer by wireless module, host computer Survey Software main program decode to synchronous optical signal, on
Position machine Survey Software corresponds the synchronization optical signal after node each in sensor network decoding, and then by sensor network
In the clock of each node unite, be used interchangeably data between node and node can.
In R-LATs work: first that sensor network nodes clock is synchronous in Survey Software；Then, sensor is selected
Datum node of the node as whole system in network provides every revolution starting for each rotary laser theodolite
The zero signal of position.The different rotary laser theodolite of revolving speed distinguishes datum node and tested node in inswept network, often
When one rotary laser theodolite is inswept same tested node, the sequential relationship by being tested node and datum node can be determined
A unique ray L in space passes through rotary laser theodolite lasing area launch center point O and the tested section of sensor network
Point P.In this way, their space line L is intersected in a bit in space, as quilt when there is two to rotate above laser transit
Survey the spatial position point of node P.Due between node each in sensor network after oversampling clock synchronizes each node in network
In status be it is of equal value, can be replaced mutually, therefore datum node can be with multiple.For the measurement accuracy for guaranteeing system, base
The advantages of position of quasi- node cannot change after the completion of system calibrating, multiple datum nodes is can be by judging base
The relationship of signal judges there there is unchanged datum node position in sensor network between quasi- and benchmark, to judge that systematic survey is
It is no reliable.Furthermore increasing datum node can limitation with effective solution system due to unity reference to systematic survey range.
Network clocking synchronizing process:
(1) pulse control with encoded information of the standard of synchronous optical signals FPGA triggering, the synchronization being made of LED
Light belt is flashed by specific time sequence.To make each node in sensor network that can receive synchronous optical signal, in measurement space
Arrange a plurality of synchronizable optical band, the shape of light belt is configured according to the difference of environment.
(2) each node in R-LATs sensor network receives the synchronization optical signal with encoded information and rotates and swashs
The planar light signal that light theodolite issues reaches host computer by wireless module by all signals after pretreatment.
(3) host computer decodes synchronous optical signal, believes the synchronizable optical that all nodes receive in sensor network
Number moment is mapped.The clock of each node in sensor network is equivalent to a time shaft, and that they are received is same
Step optical signal is equivalent to scale, and the synchronization optical signal of each node is mapped, and two adjacent synchronization signals are indirectly
It is converted under the synchronizable optical clock cycle and is completed to R-LATs system sensor network clock at the time of the planar light signal received
Correction.
(4) signal after having corrected that is analyzed and processed, angle information needed for calculating R-LATs system.
In this preferred embodiment, by taking measurement scene shown in Fig. 2 as an example.
It is most of to be broadly divided into four for R-LATs system in this preferred embodiment: rotary laser theodolite, synchronizable optical transmitting node,
Sensor receiving node and host computer Survey Software.
When system worked well, each node receives the flat of rotary laser theodolite sending respectively in receiving sensor network
The synchronous optical signal that face optical signal is issued with synchronizable optical transmitting node: planar light signal is by rotation high-speed rotating under different rotating speeds
Laser transit issues；The pulse control synchronizable optical light belt with encoded information of synchronous optical signals FPGA triggering issues.
Each node carries out identification extraction after receiving two kinds of signals in respective processor in sensor network, identification
Extraction includes the type (one of signal type (planar light or synchronizable optical), the rotary laser theodolite ID for issuing planar light, planar light
Platform rotary laser theodolite issues two planar lights: plane p, plane q).Data pre-process data after identifying, will
After data processing is the data that can be used for directly calculating in host computer, host computer is transmitted to by wireless module.
Host computer Survey Software receives in sensor network after the data of each node, carries out first to synchronous optical signal
Decoding, makes the synchronization optical signal of each sensor node be mapped, flat what is received between two adjacent synchronization signals
The correction completed under the synchronizable optical clock cycle to R-LATs system sensor network clock is converted at the time of the optical signal of face.Correction
The location information for calculating tested node using multiple datum nodes afterwards, improves the stability of system and the expansion capability of system.
R-LATs sensor network is after oversampling clock synchronizes, and the information in network between each node can interact, using more
The mode of a datum node, improves the stability and orientation accuracy of system, while having also been removed Reference BTS to whole system
The limitation of measurement range and arrangement manner.
Claims (9)
1. a kind of photoelectric sensor network clock synchronization method of extensive R-LATs measuring system, which is characterized in that including such as
Lower step,
Step 1, synchronous optical signal is persistently emitted in measurement space, the synchronization optical signals standard has encoded information
Pulse control, and by setting timing flashing；
Step 2, each node in sensor network receives rotates in synchronous optical signal and extensive R-LATs measuring system
Identification extraction is carried out after the planar light signal of laser transit respectively, and is uploaded to host computer；
Step 3, host computer Survey Software decodes synchronous optical signal, receives all nodes same
Step the optical signal moment be mapped, and will be received between adjacent two synchronous optical signals planar light signal at the time of conversion
To under the clock cycle of synchronous optical signal, the synchronous correction to R-LATs system sensor network clock is completed；
Step 4, the planar light signal after synchronous correction is analyzed and processed, at least one sensor after correction is made
For benchmark node, the location information of tested node is calculated.
2. a kind of photoelectric sensor network clocking side of synchronization of extensive R-LATs measuring system according to claim 1
Method, which is characterized in that in step 1, synchronous optical signal is persistently emitted in measurement space, can be covered every in sensor network
A node.
3. a kind of photoelectric sensor network clocking side of synchronization of extensive R-LATs measuring system according to claim 1
Method, which is characterized in that in step 2, the identification of sensor network interior joint includes signal type, the rotary laser for issuing planar light
The type of theodolite ID and planar light.
4. a kind of photoelectric sensor network clocking side of synchronization of extensive R-LATs measuring system according to claim 1
Method, which is characterized in that in step 3, the clock of each node in sensor network is as a time shaft, the synchronization received
Optical signal is equivalent to scale, and the scale of the synchronization optical signal of each node is mapped on a timeline, adjacent two
It is converted under the synchronizable optical clock cycle and is corresponded on same time shaft at the time of the planar light signal received between synchronization signal,
Complete the correction to R-LATs system sensor network clock.
5. a kind of photoelectric sensor network clocking side of synchronization of extensive R-LATs measuring system according to claim 1
Method, which is characterized in that in step 4, select one of datum node, provide every revolution for each rotary laser theodolite
The zero signal of initial position is completed to calculate the corner of rotary laser theodolite in extensive R-LATs measuring system.
6. a kind of photoelectric sensor network clocking side of synchronization of extensive R-LATs measuring system according to claim 1
Method, which is characterized in that the position of datum node is fixed after the completion of system calibrating, by judging signal between benchmark and benchmark
Relationship judges there there is unchanged datum node position in sensor network, to judge whether systematic survey is reliable.
7. a kind of photoelectric sensor network clock synchronization system of extensive R-LATs measuring system, which is characterized in that using such as
Synchronous method as claimed in any one of claims 1 to 6 is used for including the synchronization photosystem for persistently emitting synchronous optical signal
By measurement sensor receiving plane optical signal and the processing unit of synchronous optical signal and for the upper of data processing and calculating
Machine；
The synchronization photosystem includes,
FPGA module, for generating the pulse control signal with encoded information of standard；
LED drive circuit, for generating driving signal according to pulse control signal；
LED synchronizing lamp band, it is lasting to emit synchronous optical signal for issuing the flashing of setting timing according to driving signal.
8. a kind of synchronous system of the photoelectric sensor network clocking of extensive R-LATs measuring system according to claim 7
System, which is characterized in that arrange a plurality of synchronizable optical band in measurement space, can be received for each node in sensor network
Synchronous optical signal.
9. a kind of synchronous system of the photoelectric sensor network clocking of extensive R-LATs measuring system according to claim 7
System, which is characterized in that LED drive circuit includes sequentially connected metal-oxide-semiconductor driving circuit and metal-oxide-semiconductor switching circuit.
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| CN110006413B (en) * | 2019-04-29 | 2020-04-28 | 西安交通大学 | R-LATs system mobile terminal signal processing method based on FPGA-ARM embedded system |
| CN112284392A (en) * | 2020-10-16 | 2021-01-29 | 拓能英特森通信服务(北京)有限公司 | Indoor positioning system |
| CN113358103B (en) * | 2021-04-25 | 2023-06-09 | 西安交通大学 | Distributed measurement architecture processing method of large-scale R-LATs measurement system |
| CN113465605B (en) * | 2021-06-09 | 2022-10-25 | 西安交通大学 | Mobile robot positioning system and method based on photoelectric sensing measurement network |
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