CN112968748A - Software synchronization error compensation method, system, medium, and apparatus - Google Patents

Software synchronization error compensation method, system, medium, and apparatus Download PDF

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Publication number
CN112968748A
CN112968748A CN202110402022.0A CN202110402022A CN112968748A CN 112968748 A CN112968748 A CN 112968748A CN 202110402022 A CN202110402022 A CN 202110402022A CN 112968748 A CN112968748 A CN 112968748A
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time
client
application program
server
ntp
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CN112968748B (en
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孙媛
单鑫
赵建印
陈健
李保刚
李志成
高松
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Coastal Defense College Of Naval Aviation University Of Chinese Pla
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Coastal Defense College Of Naval Aviation University Of Chinese Pla
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
    • H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
    • H04L69/162—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields involving adaptations of sockets based mechanisms

Abstract

The invention provides a software synchronization error compensation method, a system, a medium and a device, comprising: step 1: initializing a client application program, wherein the client application program comprises application program cache data, whether an initial state is matched or not and an NTP state of a client computer; step 2: the client and the server finish timing through Socket; and step 3: after the time correction is completed, the server issues an application program running instruction to all the clients connected with the server, and all the clients synchronously start the application program after receiving the instruction; and 4, step 4: and after the operation period is finished, each client application program performs error compensation on the next operation period, and corrects the operation time of the application program. The invention carries out time correction on all client application programs on the basis of NTP synchronous time correction, ensures that the application programs strictly run according to time sequence and carry out normal service interaction, does not need too much hardware time correction equipment, and has the characteristics of low cost, system controllability and high reliability.

Description

Software synchronization error compensation method, system, medium, and apparatus
Technical Field
The invention relates to the technical field of time calibration, in particular to a software synchronization error compensation method, a system, a medium and equipment.
Background
The NTP technology can be adopted in a computer system supporting network sockets to carry out time synchronization, time errors on a client side are in millisecond level, but for application programs running on the client side, error accumulation is overlarge after the application programs run for a period of time (half an hour), and the error tolerance range is exceeded, so that the programs running on the client sides are interfered with each other in time sequence, and the normal work cannot be carried out. For NTP timing, the client performs timing again at intervals, but the more stable the timing interval is, the larger the timing interval is, so that the error generated by the running of the application program needs to be compensated at the timing interval of two times, thereby avoiding long-time error accumulation and enabling the application program to work normally.
Patent document CN104410481B (application number: CN201410710632.7) discloses a time setting method and a time setting system based on NTP network, which includes the following steps: the master station sends a request for inquiring an accurate clock to the terminal; the terminal replies a request of the master station for inquiring the accurate clock; the master station records the time of the request reply and repeats the preorder steps; the master station calculates the time of network transmission from the master station to the terminal and sends a time deviation modification request to the terminal; the terminal confirms and modifies the time; the master station inquires the terminal time; the terminal returns the terminal time to the master station; after the master station confirms that the time of the terminal is correct, a timing request is sent to the terminal; the terminal carries out time synchronization on the primary meter according to the time calibration request of the master station; and (5) terminal confirmation.
Disclosure of Invention
In view of the defects in the prior art, the present invention provides a software synchronization error compensation method, system, medium and device.
The software synchronization error compensation method provided by the invention comprises the following steps:
step 1: initializing a client application program, wherein the client application program comprises application program cache data, whether an initial state is matched or not and an NTP state of a client computer;
step 2: the client and the server finish timing through Socket;
and step 3: after the time correction is completed, the server issues an application program running instruction to all the clients connected with the server, and all the clients synchronously start the application program after receiving the instruction;
and 4, step 4: and after the operation period is finished, each client application program performs error compensation on the next operation period, and corrects the operation time of the application program.
Preferably, the time recorded by the client clock for sending the NTP message and the time recorded by the client clock for receiving the NTP message are respectively T1And T4The time recorded by the server end clock for receiving and sending the NTP message is T respectively2And T3The time deviation between the client and the time server is theta, the network path delay in the time setting process is delta, and the path delay from the client to the server is delta based on the clock of the server1The path delay from server to client is δ2The following equation is derived:
T2-T1＝θ+δ1…………(1)
T4-T3＝δ2-θ…………(2)
δ1+δ2＝δ…………(3)。
preferably, the path delay from the client to the server for sending the message is the same as the path delay from the server to the client, that is:
Figure BDA0003020684360000021
then there are:
Figure BDA0003020684360000022
Figure BDA0003020684360000023
the network path delay δ and the time offset θ are obtained as:
δ＝(T4-T1)-(T3-T2)…………(6)
Figure BDA0003020684360000024
adding the time deviation theta to the time of receiving the message by the client to obtain the corrected time Tnew：
Tnew＝T4+θ…………(8)
The client compensates the local time according to equation (8), thereby achieving time synchronization with the server.
Preferably, there is an error between the actual time slot and the defined time slot of the application program, and the application program on each terminal can keep a synchronous state between two times of timing by eliminating the corresponding error, and the initial NTP timing time is defined as TstartOne time slot time is S, the total number of the time slots is n, and the operation defined period and the actual compensation period of the application program are respectively T and TθThe actual m-th period of the application program is finished at the time Tm_realThe definition time and the actual running time of the application program after running for m periods are respectively tmAnd tm_realAfter the application program runs for m periods, the error is theta, and the following formula is obtained:
T＝nS…………(11)
tm_real＝Tm_real-Tstart…………(12)
tm＝mT…………(13)
θ＝tm_real-tm…………(14)
Tθ＝T-θ…………(15)
the client application program compensates the m +1 times period according to equation (15), and all the client application programs start to continue running after resynchronization until the next NTP timing.
The software synchronization error compensation system provided by the invention comprises the following modules:
module M1: initializing a client application program, wherein the client application program comprises application program cache data, whether an initial state is matched or not and an NTP state of a client computer;
module M2: the client and the server finish timing through Socket;
module M3: after the time correction is completed, the server issues an application program running instruction to all the clients connected with the server, and all the clients synchronously start the application program after receiving the instruction;
module M4: and after the operation period is finished, each client application program performs error compensation on the next operation period, and corrects the operation time of the application program.
Preferably, the time recorded by the client clock for sending the NTP message and the time recorded by the client clock for receiving the NTP message are respectively T1And T4The time recorded by the server end clock for receiving and sending the NTP message is T respectively2And T3The time deviation between the client and the time server is theta, the network path delay in the time setting process is delta, and the path delay from the client to the server is delta based on the clock of the server1The path delay from server to client is δ2The following equation is derived:
T2-T1＝θ+δ1…………(1)
T4-T3＝δ2-θ…………(2)
δ1+δ2＝δ…………(3)。
preferably, the path delay from the client to the server for sending the message is the same as the path delay from the server to the client, that is:
Figure BDA0003020684360000031
then there are:
Figure BDA0003020684360000032
Figure BDA0003020684360000033
the network path delay δ and the time offset θ are obtained as:
δ＝(T4-T1)-(T3-T2)…………(6)
Figure BDA0003020684360000041
adding the time deviation theta to the time of receiving the message by the client to obtain the corrected time Tnew：
Tnew＝T4+θ…………(8)
The client compensates the local time according to equation (8), thereby achieving time synchronization with the server.
Preferably, there is an error between the actual time slot and the defined time slot of the application program, and the application program on each terminal can keep a synchronous state between two times of timing by eliminating the corresponding error, and the initial NTP timing time is defined as TstartOne time slot time is S, the total number of the time slots is n, and the operation defined period and the actual compensation period of the application program are respectively T and TθThe actual m-th period of the application program is finished at the time Tm_realThe definition time and the actual running time of the application program after running for m periods are respectively tmAnd tm_realAfter the application program runs for m periods, the error is theta, and the following formula is obtained:
T＝nS…………(11)
tm_real＝Tm_real-Tstart…………(12)
tm＝mT…………(13)
θ＝tm_real-tm…………(14)
Tθ＝T-θ…………(15)
the client application program compensates the m +1 times period according to equation (15), and all the client application programs start to continue running after resynchronization until the next NTP timing.
According to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as described above.
According to the present invention, there is provided a software synchronization error compensation apparatus, comprising: a controller;
the controller comprises the computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the software synchronization error compensation method described above; alternatively, the controller includes the software synchronization error compensation system described above.
Compared with the prior art, the invention has the following beneficial effects:
(1) for NTP timing, the client-side can perform timing again at intervals, but the more stable the timing interval is, the larger the timing interval is, so that the error generated by the operation of the application program needs to be compensated at the timing interval of two times, the long-time error accumulation is avoided, and the application program can normally work;
(2) the software time synchronization error compensation method is used for timing all client application programs on the basis of NTP synchronization timing, ensures that the application programs strictly operate according to time sequences and performs normal service interaction, does not need too many hardware timing devices, is low in use cost, controllable in system and high in reliability, has timing precision in millisecond level, and plays an important role in actual engineering use.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a diagram of a typical scenario;
FIG. 2 is a time slot setting diagram;
FIG. 3 is a diagram illustrating a time synchronization process between a server and a client;
FIG. 4 is an operational flow diagram;
FIG. 5 is an application scenario diagram;
fig. 6 is a schematic diagram of a time slot.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example (b):
as shown in the typical scenarios and time slot settings of fig. 1 and fig. 2, it is necessary to perform time synchronization on all the clients so as to enable the applications on the clients to run according to the time slot settings, assuming that the number of the clients is n, n clients are interconnected with the server through the network, and n clients perform time synchronization through the server clock, so as to achieve time synchronization on the applications respectively running on the n clients, where an error of the running application is in the millisecond level. The client time synchronization mainly adopts a network time service technology, and a common method of the network time service technology is shown in table 1.
TABLE 1 technical comparison of network time synchronization
Figure BDA0003020684360000051
Figure BDA0003020684360000061
As can be seen from the table content, the NTP method is a time synchronization method with better comprehensive performance in the current network synchronization, so the network time service technology based on NTP is mainly adopted at this time, and the specific principle is as follows:
NTP Network Time Protocol (NTP) is a Protocol used to synchronize the Time of each computer in a Network. The NTP accurate time synchronization is mainly realized in a master-slave working mode, and the NTP algorithm firstly determines the difference value of two-place clocks and the transmission delay of messages in a network according to round-trip messages of a server and a client. The equipment using NTP for time synchronization and its transmission link form a time synchronization sub-network, in the network, according to the equipment precision and importance, the coding is in the level of 0-15, the equipment with smaller coding number, the clock precision and importance are higher, as shown in FIG. 1, two levels of a server and a client are studied, and the server is the upper level structure of the client. The NTP working principle is as follows:
in FIG. 3, T1And T4The time for sending NTP message and receiving NTP message recorded by client clock, T2And T3The time for receiving and sending the NTP message is recorded by the server side clock. It is defined here that the time offset (offset) between the client and the time server is denoted by the greek letter θ, and the network path delay (delay) during the time tick is denoted by the greek letter δ. Assuming that the server clock is the reference, the time offset between the server and client clocks is θ, and the path delay from the client to the server is δ1The path delay from server to client is δ2The sum of the path delays is δ. The following equation can be derived:
T2-T1＝θ+δ1…………(1)
T4-T3＝δ2-θ…………(2)
δ1+δ2＝δ…………(3)
suppose that
Figure BDA0003020684360000062
Equations (1) - (3) are transformed into:
Figure BDA0003020684360000063
Figure BDA0003020684360000064
the link delay delta and the time offset theta under an ideal state can be obtained as follows:
δ＝(T4-T1)-(T3-T2)…………(6)
Figure BDA0003020684360000065
adding the offset theta to the time of the client to obtain the corrected time Tnew：
Tnew＝T4+θ…………(8)
Considering clock error and measurement error between the client and the server, the actual time deviation value theta0Undulate around theta due to T2-T1＝θ0+δ1And client to server network delay delta1＝T2-T1-θ0Is more than or equal to 0. For the same reason T4-T3＝δ2-θ0Theta of0≥T3-T4And is recorded as:
T3-T4≤θ0≤T2-T1…………(9)
in combination of formulae (4) and (5), formula (9) is equivalent to:
Figure BDA0003020684360000071
the client compensates the local time according to equation (8), thereby achieving time synchronization with the server. After a plurality of clients are synchronized through NTP, the clients start to operate strictly according to the predefined time slot, and therefore program data interaction running on each client is guaranteed not to interfere with each other. The whole scene operation flow is shown in fig. 4.
For the problem of accumulated errors of an NTP twice timing application program, a method for compensating time synchronization errors of application program software is provided, and the method is hereinafter referred to as an error compensation method. The error compensation method is that the error of the application program is obtained by absolute time and acquired system time in the NTP time correction interval in software, and compensation is carried out in the next period of the application program, so that the accumulated error of the application program time is eliminated, the application program time sequence is ensured to be synchronous all the time, and the interaction of the application program service data is carried out smoothly. The application scenario diagram is shown in fig. 5.
As shown in fig. 6, all the client applications run according to different time slots in the time sequence, and the applications run strictly according to the time sequence so that they do not interfere with each other and run correctly, but in practice, the client applications are inevitably out of synchronization between NTP two times due to frequency drift caused by client calibration errors, environmental changes, and device aging, and the error compensation method performs calibration compensation on errors generated by the client applications, so that all the clients maintain a time synchronization state.
The actual time slot of the application program has a certain error with the defined time slot, the application program on each terminal can keep a synchronous state between two times of timing by only eliminating the corresponding error, and the initial NTP timing time is defined as TstartOne time slot time is S, the total number of the time slots is n, and the operation defined period and the actual compensation period of the application program are respectively T and TθThe actual m-th period of the application program is finished at the time Tm_realThe definition time and the actual running time of the application program after running for m periods are respectively tmAnd tm_realAfter the application program runs for m periods, the error is θ, and the following formula can be obtained:
T＝nS…………(11)
tm_real＝Tm_real-Tstart…………(12)
tm＝mT…………(13)
θ＝tm_real-tm…………(14)
Tθ＝T-θ…………(15)
the client application program compensates the m +1 times of period according to the formula (15), and all the client application programs start to continuously run after being resynchronized until the next time of NTP calibration, so that the time synchronization state of the application programs is always kept after the application programs run for a long time, and the service interaction of different client application programs without mutual interference is ensured. The algorithm steps of the software time synchronization error compensation method are as follows:
step 1, initializing each client application program, such as whether the application program caches data, the initial state is matched and the NTP state of the client computer.
And 2, each client and the server perform NTP timing, and the clients and the servers quickly complete timing through socket sockets.
And 3, the server sends an application program running instruction to all connected clients after timing is finished, and all the clients start to synchronously start the application program after receiving the instruction.
And 4, after the operation period is finished, each client application program performs error compensation on the next operation period, and corrects the operation time of the application program.
And all the client application programs interact with the server once again every half hour, the server corrects all the client time, then each client application program performs error compensation on the next operation period after the operation period is finished, the operation time of the application program is corrected, and the application program is always kept in an operation state.
For NTP timing, the client performs timing again at intervals, but the more stable the timing interval is, the larger the timing interval is, so that the error generated by the running of the application program needs to be compensated at the timing interval of two times, thereby avoiding long-time error accumulation and enabling the application program to work normally.
The software time synchronization error compensation method is used for timing all client application programs on the basis of NTP synchronization timing, and ensures that the application programs run strictly according to a time sequence to perform normal service interaction. The compensation method does not need too many hardware timing devices, is low in use cost, controllable in system and high in reliability, has timing precision in millisecond level, and plays an important role in actual engineering use. Under the hardware configuration condition of the table 2, the synchronization capacity is obviously improved by adopting a software time synchronization error compensation method to time-calibrate all clients compared with the time-calibration method which is not adopted; the longer the run time the better the synchronization, as in table 3.
TABLE 2 client and Server hardware configuration Table
CPU Inteli7-7700
Memory device DDR432G
Display card NVIDIAGTX1070
Hard disk SSD120G
Display device 1920x1080(24 inch)
TABLE 3 Effect of different runtimes on application accumulated errors
Run time 0.5h 1h 2h 4h
By compensating for errors 0.02ms 0.016ms 0.023ms 0.019ms
Without using compensating errors ≈5ms ≈12ms ≈30ms ≈73ms
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A software synchronization error compensation method is characterized by comprising the following steps:
step 1: initializing a client application program, wherein the client application program comprises application program cache data, whether an initial state is matched or not and an NTP state of a client computer;
step 2: the client and the server finish timing through Socket;
and step 3: after the time correction is completed, the server issues an application program running instruction to all the clients connected with the server, and all the clients synchronously start the application program after receiving the instruction;
and 4, step 4: and after the operation period is finished, each client application program performs error compensation on the next operation period, and corrects the operation time of the application program.
2. The software synchronization error compensation method of claim 1, wherein the time for sending the NTP message and the time for receiving the NTP message recorded by the client clock are T1And T4The time recorded by the server end clock for receiving and sending the NTP message is T respectively2And T3The time deviation between the client and the time server is theta, the network path delay in the time setting process is delta, and the path delay from the client to the server is delta based on the clock of the server1The path delay from server to client is δ2The following equation is derived:
T2-T1＝θ+δ1…………(1)
T4-T3＝δ2-θ…………(2)
δ1+δ2＝δ…………(3)。
3. the software synchronization error compensation method of claim 2, wherein the path delay from the client to the server for sending the message and the path delay from the server to the clientThe path delay of (a) is the same, i.e.:
Figure FDA0003020684350000011
then there are:
Figure FDA0003020684350000012
Figure FDA0003020684350000013
the network path delay δ and the time offset θ are obtained as:
δ＝(T4-T1)-(T3-T2)…………(6)
Figure FDA0003020684350000014
adding the time deviation theta to the time of receiving the message by the client to obtain the corrected time Tnew：
Tnew＝T4+θ…………(8)
The client compensates the local time according to equation (8), thereby achieving time synchronization with the server.
4. The software synchronization error compensation method of claim 1, wherein the actual time slot of the application program has an error with the defined time slot, and the application program on each terminal can keep synchronization between two time corrections by eliminating the corresponding error, and the initial NTP time correction is defined as TstartOne time slot time is S, the total number of the time slots is n, and the operation defined period and the actual compensation period of the application program are respectively T and TθThe actual m-th period of the application program is finished at the time Tm_realThe definition time and the actual running time of the application program after running for m periods are respectively tmAnd tm_realError of application running for m cyclesThe difference is θ, giving the following equation:
T＝nS…………(11)
tm_real＝Tm_real-Tstart…………(12)
tm＝mT…………(13)
θ＝tm_real-tm…………(14)
Tθ＝T-θ…………(15)
the client application program compensates the m +1 times period according to equation (15), and all the client application programs start to continue running after resynchronization until the next NTP timing.
5. A software synchronization error compensation system is characterized by comprising the following modules:
module M1: initializing a client application program, wherein the client application program comprises application program cache data, whether an initial state is matched or not and an NTP state of a client computer;
module M2: the client and the server finish timing through Socket;
module M3: after the time correction is completed, the server issues an application program running instruction to all the clients connected with the server, and all the clients synchronously start the application program after receiving the instruction;
module M4: and after the operation period is finished, each client application program performs error compensation on the next operation period, and corrects the operation time of the application program.
6. The software synchronization error compensation system of claim 5, wherein the time recorded by the client clock for transmitting the NTP messages and the time recorded by the client clock for receiving the NTP messages are T respectively1And T4The time recorded by the server end clock for receiving and sending the NTP message is T respectively2And T3The time deviation between the client and the time server is theta, the network path delay in the time setting process is delta, and the path delay from the client to the server is delta based on the clock of the server1The path delay from server to client is δ2The following equation is derived:
T2-T1＝θ+δ1…………(1)
T4-T3＝δ2-θ…………(2)
δ1+δ2＝δ…………(3)。
7. the software synchronization error compensation system of claim 6, wherein the path delay from the client to the server for sending the message is the same as the path delay from the server to the client, namely:
Figure FDA0003020684350000031
then there are:
Figure FDA0003020684350000032
Figure FDA0003020684350000033
the network path delay δ and the time offset θ are obtained as:
δ＝(T4-T1)-(T3-T2)…………(6)
Figure FDA0003020684350000034
adding the time deviation theta to the time of receiving the message by the client to obtain the corrected time Tnew：
Tnew＝T4+θ…………(8)
The client compensates the local time according to equation (8), thereby achieving time synchronization with the server.
8. Software synchronization error compensation according to claim 5The system is characterized in that errors exist between the actual time slots and the defined time slots of the application programs, the application programs on each terminal can keep a synchronous state between two times of timing by eliminating corresponding errors, and the initial NTP timing time is defined as TstartOne time slot time is S, the total number of the time slots is n, and the operation defined period and the actual compensation period of the application program are respectively T and TθThe actual m-th period of the application program is finished at the time Tm_realThe definition time and the actual running time of the application program after running for m periods are respectively tmAnd tm_realAfter the application program runs for m periods, the error is theta, and the following formula is obtained:
T＝nS…………(11)
tm_real＝Tm_real-Tstart…………(12)
tm＝mT…………(13)
θ＝tm_real-tm…………(14)
Tθ＝T-θ…………(15)
the client application program compensates the m +1 times period according to equation (15), and all the client application programs start to continue running after resynchronization until the next NTP timing.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
10. A software synchronization error compensation apparatus, comprising: a controller;
the controller comprising a computer readable storage medium of claim 9 having a computer program stored thereon, which when executed by a processor implements the steps of the software synchronization error compensation method of any of claims 1 to 4; alternatively, the controller comprises the software synchronization error compensation system of any one of claims 5 to 8.
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