CN111385825A - Consistency time synchronization method for rapid convergence of wireless sensor network - Google Patents

Consistency time synchronization method for rapid convergence of wireless sensor network Download PDF

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CN111385825A
CN111385825A CN202010118658.8A CN202010118658A CN111385825A CN 111385825 A CN111385825 A CN 111385825A CN 202010118658 A CN202010118658 A CN 202010118658A CN 111385825 A CN111385825 A CN 111385825A
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clock
clock skew
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skew
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CN111385825B (en
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陈维兴
刘清涛
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Civil Aviation University of China
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention provides a consistency time synchronization method for rapid convergence of a wireless sensor network. The method comprises the steps of constructing a virtual link between two-hop neighbor nodes to enlarge a node reference range and considering consistency iteration updating under a delay condition on the basis. On the basis that only a single-hop node is considered by a reference node in the existing method, the convergence performance of the consistency time synchronization method is optimized by adding two-hop neighbor nodes based on the virtual link construction between the two-hop neighbor nodes of the wireless sensor network, and the relative clock skew is updated and improved under the delay condition, so that the convergence speed is improved well. Compared with other methods such as an average consistency time synchronization method ATS, the method effectively improves the convergence speed.

Description

Consistency time synchronization method for rapid convergence of wireless sensor network
Technical Field
The invention belongs to the technical field of wireless sensor networks, and particularly relates to a consistency time synchronization method for rapid convergence of a wireless sensor network.
Background
Wireless Sensor Networks (WSNs) are Networks that sense, collect, and process monitored environmental information in a distributed manner, and are currently widely used, and time synchronization is a basic support technology for Wireless Sensor Networks. The time synchronization is the basis and the precondition for the wireless sensor network to realize the applications of data fusion, cooperative monitoring, node positioning, intelligent dormancy, communication conflict avoidance and the like. The convergence speed is very important for the time synchronization algorithm, and in the application of the WSNs, particularly large-scale WSNs, the fast convergence time synchronization algorithm is very necessary for the smooth execution of the application. A faster consistency algorithm requires fewer synchronization cycles to achieve time synchronization and, at the same time, can quickly adapt to changes in network topology and time skew. Compared with other algorithms, the average consistency time synchronization algorithm is more robust, but because the distributed synchronization protocol is mainly based on the global node to perform time diffusion and continuous synchronization iteration, and the convergence speed of the distributed time synchronization protocol is slower than that of the classical time synchronization algorithm, a new consistency time synchronization method needs to be found to realize rapid convergence.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a consistent time synchronization method for fast convergence of a wireless sensor network.
In order to achieve the above object, the consistent time synchronization method for fast convergence of a wireless sensor network provided by the present invention comprises the following steps performed in sequence:
step 1: logic clock skew for initializing initial time of any node i in wireless sensor network
Figure BDA0002392286530000011
Is 1, logic clock offset
Figure BDA0002392286530000012
Figure BDA0002392286530000012
0, relative clock skew between nodes α ij1, making the broadcast period of the node as T;
step 2: node i at time τi(t)＝lT,l∈N+I.e. in the ith broadcast period T, the broadcast includes its local clock τi(tl) Logic clock skew
Figure BDA0002392286530000021
And logic clock offset
Figure BDA0002392286530000022
Clock information is included and the relative clock skew between the current nodes is recorded αij(tl)；
Step 3, when the neighbor node j, j ∈ NiReceiving the clock information<τi(tl),
Figure BDA0002392286530000023
>Then, clock information of itself is generated<τj(tl),
Figure BDA0002392286530000024
>And records the relative clock skew α between the current nodesji(tl) Then the clock information of the neighbor node j and the node i are combined into new combined clock information<τi(tl),τj(tl)；
Figure BDA0002392286530000025
>And broadcast to its neighbor nodes;
and 4, step 4: when the node i receives the clock information of the neighbor node<τj(tl),τk(tl)；
Figure BDA0002392286530000026
>Then, the information at this time includes clock information of the neighbor node j of the node i<τj(tl),
Figure BDA0002392286530000027
>And two-hop neighbor node k, k ∈ NjClock information of<τk(tl),
Figure BDA0002392286530000028
>(ii) a At this time, the clock information of the node i is<τi(tl),
Figure BDA0002392286530000029
>Current relative clock skew between nodesIs αij(tl) The clock information of the previous moment is<τi(tl-1),
Figure BDA00023922865300000210
>Relative clock skew between nodes is αij(tl-1) (ii) a Then according to the clock information of the neighbor node received by the node i<τj(tl),τk(tl)；
Figure BDA00023922865300000211
>Relative clock skew α between node i, neighbor node j, and two-hop neighbor node kijLogic clock skew
Figure BDA00023922865300000212
And logic clock skew
Figure BDA00023922865300000213
Carrying out estimation;
step 5-according to the relative clock skew α described aboveijLogic clock skew
Figure BDA00023922865300000214
And logic clock skew
Figure BDA00023922865300000215
As a result of the estimation, the node i deletes and updates the clock information at the previous time<τi(tl-1),
Figure BDA00023922865300000216
>Importing the updated clock information to be called in the next step;
step 6: and jumping to the step 2 to circularly execute consistency synchronization.
In step 5, the relative clock skew α between the pair node i, the neighbor node j, and the two-hop neighbor node kijLogic clock skew
Figure BDA00023922865300000217
And logic clock skew
Figure BDA00023922865300000218
The method for estimating comprises the following steps:
s1: relative clock skew estimation:
relative clock skew α between nodes i, j without delayijThe update formula of (2) is:
Figure BDA0002392286530000031
considering bounded delay, as shown in FIG. 2, for a single-hop neighbor node delay is
Figure BDA0002392286530000032
For two-hop neighbor nodes, since intermediate node relay is needed, two steps are needed to complete transmission of synchronous clock information, and the processing time Td of the intermediate node is ignored, so that the delay is caused
Figure BDA0002392286530000033
Comprises the following steps:
Figure BDA0002392286530000034
the inter-node delay mainly affects the relative clock skew and thus the logic clock skew estimation. Therefore, in order to avoid the divergence of the synchronization process by applying equation (1), the relative clock skew thereof needs to be compensated, and a weighted average is taken for all the relative clock skews, and the update formula is:
Figure BDA0002392286530000035
s2: logic clock skew estimation:
Figure BDA0002392286530000036
wherein，ραTo converge the gradient coefficients, αijIs relative clock skew.
S3: logic clock offset estimation:
Figure BDA0002392286530000037
where ρ isbIs the convergence gradient coefficient. The clock skew does not amplify in the case of delays, the synchronization result being bounded.
Compared with the prior art, the consistency time synchronization method for the rapid convergence of the wireless sensor network provided by the invention has the following advantages and beneficial effects:
the invention optimizes and improves the convergence speed of the consistency time synchronization of the wireless sensor network based on adding the virtual link to the two-hop neighbor node, and the convergence speed is well improved by adding the virtual link to the two-hop neighbor node under the condition of not changing the network topology information. Compared with other methods in the prior art, the method can effectively improve the convergence rate and has superior performance.
Drawings
Fig. 1 is a schematic reference node diagram of a node i in the consistent time synchronization method for fast convergence of a wireless sensor network according to the present invention;
FIG. 2 is a schematic diagram of packet delivery with delay;
FIG. 3 is a diagram of maximum logic clock error for a wireless sensor network;
FIG. 4 is a diagram showing a relationship between a network topology radius and an algebraic connectivity;
fig. 5 is a graph of the convergence rate of different topologies.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The consistency time synchronization method for the rapid convergence of the wireless sensor network provided by the invention comprises the following steps in sequence:
step 1: logic clock skew for initializing initial time of any node i in wireless sensor network
Figure BDA0002392286530000041
Is 1, logic clock offset
Figure BDA0002392286530000042
Figure BDA0002392286530000042
0, relative clock skew between nodes α ij1, making the broadcast period of the node as T;
the hardware clock of any node i in the wireless sensor network is taui(t)＝αit+βiWherein αiFor clock skew, corresponding to clock speed, ideally 1; βiIs the clock offset. For nodes in a wireless sensor network, only the local real hardware clock tau can be directly acquiredi(t), clock skew αiAnd clock bias βiIs not available, so the hardware clock τi(t) cannot be easily adjusted. Therefore, a logic clock is defined
Figure BDA0002392286530000043
I.e., a synchronous clock, in which,
Figure BDA0002392286530000044
is the logic clock skew;
Figure BDA0002392286530000045
is the logic clock offset. The aim of the inventive method is to make the node i have a globally uniform skew
Figure BDA0002392286530000046
And globally consistent offsets
Figure BDA0002392286530000047
Namely, it is
Figure BDA0002392286530000048
So that the logic clock L of all nodesi(t) achieving consensus.
As shown in fig. 1, in the wireless sensor network of the present invention, the communication relationship between nodes may be represented by a graph G ═ V, EShowing the topological relation of an information exchange network, wherein V ═ {1,2, …, N } represents a node set, N represents the number of nodes in the wireless sensor network, and an edge set
Figure BDA0002392286530000051
Representing the communication relationship among the N nodes.
Step 2: node i at time τi(t)＝lT,l∈N+I.e. in the ith broadcast period T, the broadcast includes its local clock τi(tl) Logic clock skew
Figure BDA0002392286530000052
And logic clock offset
Figure BDA0002392286530000053
Clock information is included and the relative clock skew between the current nodes is recorded αij(tl)；
Step 3, when the neighbor node j, j ∈ NiReceiving the clock information<τi(tl),
Figure BDA0002392286530000054
>Then, clock information of itself is generated<τj(tl),
Figure BDA0002392286530000055
>And records the relative clock skew α between the current nodesji(tl) Then the clock information of the neighbor node j and the node i are combined into new combined clock information<τi(tl),τj(tl)；
Figure BDA0002392286530000056
>And broadcast to its neighbor nodes;
and 4, step 4: when the node i receives the clock information of the neighbor node<τj(tl),τk(tl)；
Figure BDA0002392286530000057
>Then, the information at this time includes clock information of the neighbor node j of the node i<τj(tl),
Figure BDA0002392286530000058
>And two-hop neighbor node k, k ∈ NjClock information of<τk(tl),
Figure BDA0002392286530000059
>(ii) a At this time, the clock information of the node i is<τi(tl),
Figure BDA00023922865300000510
>The relative clock skew between the current nodes is αij(tl) The clock information of the previous moment is<τi(tl-1),
Figure BDA00023922865300000511
>Relative clock skew between nodes is αij(tl-1) (ii) a Then according to the clock information of the neighbor node received by the node i<τj(tl),τk(tl)；
Figure BDA00023922865300000512
>Relative clock skew α between node i, neighbor node j, and two-hop neighbor node kijLogic clock skew
Figure BDA00023922865300000513
And logic clock skew
Figure BDA00023922865300000514
The following estimates were made:
s1: relative clock skew estimation:
relative clock skew α between nodes i, j without delayijThe update formula of (2) is:
Figure BDA00023922865300000515
considering bounded delay, as shown in FIG. 2, for a single-hop neighbor node delay is
Figure BDA00023922865300000516
For two-hop neighbor nodes, since intermediate node relay is needed, two steps are needed to complete transmission of synchronous clock information, and the processing time Td of the intermediate node is ignored, so that the delay is caused
Figure BDA00023922865300000517
Comprises the following steps:
Figure BDA0002392286530000061
the inter-node delay mainly affects the relative clock skew and thus the logic clock skew estimation. Therefore, in order to avoid the divergence of the synchronization process by applying equation (1), the relative clock skew thereof needs to be compensated, and a weighted average is taken for all the relative clock skews, and the update formula is:
Figure BDA0002392286530000062
s2: logic clock skew estimation:
Figure BDA0002392286530000063
where ρ isαTo converge the gradient coefficients, αijIs relative clock skew.
S3: logic clock offset estimation:
Figure BDA0002392286530000064
where ρ isbIs the convergence gradient coefficient. The clock skew does not amplify in the case of delays, the synchronization result being bounded.
Step 5-according to the relative clock skew α described aboveijLogic clock skew
Figure BDA0002392286530000065
And logic clock skew
Figure BDA0002392286530000066
As a result of the estimation, the node i deletes and updates the clock information at the previous time<τi(tl-1),
Figure BDA0002392286530000067
>Importing the updated clock information to be called in the next step;
step 6: and jumping to the step 2 to circularly execute consistency synchronization.
The invention optimizes the synchronous convergence speed of the clock of the consistency of the wireless sensor network through the following thought. Under the condition of considering transmission delay, the time synchronization of the wireless sensor network is realized by improving the interaction between the intelligent agents of the existing consistency algorithm and the rule of information transmission. Firstly, with reference to fig. 1, a node i transmits its clock information to a neighboring node j, and on this basis, the information of the node i is additionally transmitted to a two-hop neighboring node k through the relay of the neighboring node j, that is, the information of the node i is transmitted to the neighboring node of the neighbor. Therefore, the reference range of each node is increased on the premise of not modifying the topological information of the wireless sensor network. Then, the node i updates relative clock skew, logic clock skew and logic clock skew according to the received neighbor node information, wherein the neighbor node information is added with information of two-hop neighbor nodes.
In order to verify the effectiveness of the method, the maximum logic clock error is defined as the maximum value of the logic clock error of each node. In consideration of communication delay, fig. 3 shows an error convergence diagram of the method (making it FCATS) and ATS algorithm of the present invention after 300 iterations, and it can be seen from the diagram that after several iterations, the synchronization error is stabilized at 10-2And within s, the requirements of most applications can be met. It can also be seen that,at the convergence rate, the logic clock skew error convergence of the ATS algorithm lags behind the method of the present invention for 20 iteration cycles, which shows that the convergence of the logic clock skew is improved in speed by adding a virtual link between two-hop nodes of the wireless sensor network in the presence of bounded delay. The linear topologies with different diameters are selected for research, and as can be seen from fig. 4, by adding a virtual link between two-hop nodes, compared with an ATS algorithm, the algebraic connectivity rate under the corresponding network diameter is relatively increased, and the algebraic connectivity rate is in direct proportion to the convergence rate. The inventor analyzes the convergence condition in different topologies, and respectively selects linear, annular, grid and random network topologies. It can be seen from fig. 5 that the method of the present invention has a shorter convergence time than the ATS algorithm in any of the above types of topologies, and the overall convergence speed is improved by about 50%. In conclusion, compared with the traditional consistency algorithm, the consistency time synchronization method for the rapid convergence of the wireless sensor network provided by the invention is greatly improved in convergence speed.

Claims (2)

1. A consistency time synchronization method for fast convergence of a wireless sensor network is characterized in that: the consistency time synchronization method for the rapid convergence of the wireless sensor network comprises the following steps in sequence:
step 1: logic clock skew for initializing initial time of any node i in wireless sensor network
Figure FDA0002392286520000011
Is 1, logic clock offset
Figure FDA0002392286520000012
0, relative clock skew between nodes αij1, making the broadcast period of the node as T;
step 2: node i at time τi(t)＝lT,l∈N+I.e. in the ith broadcast period T, the broadcast includes its local clock τi(tl) Logic clock skew
Figure FDA0002392286520000013
And logic clock offset
Figure FDA0002392286520000014
Clock information is included and the relative clock skew between the current nodes is recorded αij(tl)；
Step 3, when the neighbor node j, j ∈ NiReceiving the clock information
Figure FDA0002392286520000015
Then, clock information of itself is generated
Figure FDA0002392286520000016
And records the relative clock skew α between the current nodesji(tl) Then the clock information of the neighbor node j and the node i are combined into new combined clock information
Figure FDA0002392286520000017
And broadcast to its neighbor nodes;
and 4, step 4: when the node i receives the clock information of the neighbor node
Figure FDA0002392286520000018
Then, the information at this time includes clock information of the neighbor node j of the node i
Figure FDA0002392286520000019
And two-hop neighbor node k, k ∈ NjClock information of
Figure FDA00023922865200000110
Figure FDA00023922865200000111
At this time, the clock information of the node i is
Figure FDA00023922865200000112
Relative clock skew between current nodes is αij(tl) The clock information of the previous moment is
Figure FDA00023922865200000113
Relative clock skew between nodes is αij(tl-1) (ii) a Then according to the clock information of the neighbor node received by the node i
Figure FDA00023922865200000114
For relative clock skew α between node i, neighbor node j, and two-hop neighbor node kijLogic clock skew
Figure FDA00023922865200000115
And logic clock skew
Figure FDA00023922865200000116
Carrying out estimation;
step 5-according to the relative clock skew α described aboveijLogic clock skew
Figure FDA0002392286520000021
And logic clock skew
Figure FDA0002392286520000022
As a result of the estimation, the node i deletes and updates the clock information at the previous time
Figure FDA0002392286520000023
Importing the updated clock information to be called in the next step;
step 6: and jumping to the step 2 to circularly execute consistency synchronization.
2. The method of claim 1, wherein the method comprises: in step 5, the pair of nodes i and the neighbor nodeRelative clock skew α between point j and two-hop neighbor node kijLogic clock skew
Figure FDA0002392286520000024
And logic clock skew
Figure FDA0002392286520000025
The method for estimating comprises the following steps:
s1: relative clock skew estimation:
relative clock skew α between nodes i, j without delayijThe update formula of (2) is:
Figure FDA0002392286520000026
with bounded delay taken into account, for a single-hop neighbor node delay of
Figure FDA0002392286520000027
For two-hop neighbor nodes, since intermediate node relay is needed, two steps are needed to complete transmission of synchronous clock information, and the processing time Td of the intermediate node is ignored, so that the delay is caused
Figure FDA0002392286520000028
Comprises the following steps:
Figure FDA0002392286520000029
the delay between nodes mainly affects the relative clock skew, and thus the logic clock skew estimation, so to avoid applying equation (1) to make the synchronization process diverge, the relative clock skew needs to be compensated, a weighted average mode is adopted to take a weighted average of all the relative clock skews, and the update formula is as follows:
Figure FDA00023922865200000210
s2: logic clock skew estimation:
Figure FDA00023922865200000211
where ρ isαTo converge the gradient coefficients, αijRelative clock skew;
s3: logic clock offset estimation:
Figure FDA0002392286520000031
where ρ isbIs the convergence gradient coefficient.
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