CN113840370B - Clock synchronization method and device for wireless communication interaction and electronic equipment - Google Patents

Clock synchronization method and device for wireless communication interaction and electronic equipment Download PDF

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Publication number
CN113840370B
CN113840370B CN202111016202.1A CN202111016202A CN113840370B CN 113840370 B CN113840370 B CN 113840370B CN 202111016202 A CN202111016202 A CN 202111016202A CN 113840370 B CN113840370 B CN 113840370B
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master station
signal
time
station
receiving
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CN113840370A (en
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格尔德-布米勒
刘伟麟
何秦慰
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State Grid Corp of China SGCC
State Grid Jiangsu Electric Power Co Ltd
Global Energy Interconnection Research Institute
State Grid Henan Electric Power Co Ltd
Hebi Power Supply Co of State Grid Henan Electric Power Co Ltd
Global Energy Interconnection Research Institute Europe GmbH
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State Grid Corp of China SGCC
State Grid Jiangsu Electric Power Co Ltd
Global Energy Interconnection Research Institute
State Grid Henan Electric Power Co Ltd
Hebi Power Supply Co of State Grid Henan Electric Power Co Ltd
Global Energy Interconnection Research Institute Europe GmbH
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    • 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
    • H04W56/00—Synchronisation arrangements
    • H04W56/0035—Synchronisation arrangements detecting errors in frequency or phase
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/0055—Synchronisation arrangements determining timing error of reception due to propagation delay
    • H04W56/0065—Synchronisation arrangements determining timing error of reception due to propagation delay using measurement of signal travel time

Abstract

The invention discloses a clock synchronization method and device for wireless communication interaction and electronic equipment, wherein the method comprises the following steps: respectively determining a target receiving time signal of a master station for receiving the data packet of the slave station and an actual receiving time signal of the master station; calculating a difference signal between a target receiving time signal of the master station and an actual receiving time signal of the master station to obtain a receiving clock time offset signal of the master station; determining a master station transmission time for transmitting adjacent data packets to a slave station; the master station receiving clock time offset signal and the master station transmit time are continuously transmitted to the slave stations so that the slave stations adjust the current transmit time signal and the current clock frequency signal to maintain clock synchronization with the master station. The invention can obviously reduce network transmission protocol overhead and network use cost, is beneficial to clock synchronization between the master station and the slave station, and has lower overall network power consumption.

Description

Clock synchronization method and device for wireless communication interaction and electronic equipment
Technical Field
The present invention relates to the field of wireless communications technologies, and in particular, to a clock synchronization method and apparatus for wireless communication interaction, and an electronic device.
Background
Wireless communication (wireless communication) is a communication system that uses the property of an electromagnetic wave signal that can propagate in free space to exchange information. With the rapid development of renewable energy sources, electric automobiles, power electronic devices and power line carriers, the application of wireless communication in a power grid is also continuously popularized and in depth.
In order to ensure reliable operation of the power grid, the distributed power distribution network is firstly required to be subjected to multipoint measurement or monitoring by using different sensing equipment, and then wireless communication interaction is realized on the power grid data of the multipoint measurement or monitoring based on wireless internet of things communication. However, the data is not synchronous in the wireless communication data transmission process due to external factors or self factors, which greatly affects the data transmission quality.
In the related art, in order to ensure clock data transmission synchronization, a GPS satellite positioning synchronization mode or a Beidou satellite positioning synchronization mode is generally adopted, however, the wireless communication interaction clock synchronization mode has higher use cost and higher power consumption.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects of higher use cost and higher power consumption of a clock synchronization mode of wireless communication interaction in the prior art, thereby providing a clock synchronization method, a clock synchronization device and electronic equipment of wireless communication interaction.
According to a first aspect, an embodiment of the present invention provides a clock synchronization method for wireless communication interaction, which is used for a master station, and includes the following steps:
respectively determining a target receiving time signal of a master station for receiving the data packet of the slave station and an actual receiving time signal of the master station;
calculating a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a master station receiving clock time offset signal;
determining a master station transmission time for transmitting adjacent data packets to a slave station;
and continuously transmitting the master station receiving clock time offset signal and the master station transmitting time to the slave station, so that the slave station adjusts the current transmitting time signal and the current clock frequency signal, thereby keeping clock synchronization with the master station.
In one embodiment, the target reception time signal of the master station for determining reception of the slave station data packet is determined by the following formula:
wherein the saidReceiving a time signal for said master station target, < >>For a secondary station that is used by the secondary station to transmit data packets, a transmit time signal is predicted, τ (L) being the communication transmission predicted time signal.
In one embodiment, the actual reception time signal of the master station determining to receive the slave station data packet is obtained by the following formula:
T M,RX (L)＝T S,TX (L)+Δξ(L)+τ+ε 2 (L)；
Wherein the T is M,RX (L) is the actual reception time signal of the master station, the T S,TX (L) is the actual transmission time signal of the slave station used by the slave station to transmit the data packet, Δζ (L) is the actual reception time offset signal used by the master station to receive the data packet of the slave station, τ is the unknown communication transmission time signal between the master station and the slave station, ε 2 (L) receiving a time measurement noise signal for the master stationNumber (x).
In one embodiment, the calculation of the difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain the master station receiving clock time offset signal is calculated by the following formula:
wherein the DeltaT UL (L) receiving a clock time offset signal for the master station, the T M,RX (L) is the actual reception time signal of the master station, theAnd receiving a time signal for the master station target.
In one embodiment, the master receive clock time offset signal and the master transmit time load of the adjacent data packet are transmitted in a broadcast data packet to a slave station.
According to a second aspect, an embodiment of the present invention further provides a clock synchronization method for wireless communication interaction, for a secondary station, including the steps of:
Respectively receiving a master station transmitting time and a master station receiving clock time offset signal;
determining the receiving time of a secondary station for receiving the adjacent data packet sent by the primary station;
determining a time offset difference signal for receiving adjacent data packets and a master station transmitting time difference signal for transmitting the adjacent data packets by the master station according to the master station transmitting time and the slave station receiving time;
calculating a clock frequency synchronization adjustment signal according to the time offset difference signal and the master station transmitting time difference signal;
and according to the clock frequency synchronization adjustment signal and the master station receiving time offset signal, keeping synchronization with the master station by adjusting the current clock frequency signal and the current transmission time signal.
In one embodiment, the time offset difference signal and the master station transmit time difference signal, respectively, used by the master station to transmit adjacent data packets to the slave station are determined by the following equation:
and determining a time offset difference signal for receiving the adjacent data packet and a master station transmitting time difference signal for transmitting the adjacent data packet by the master station according to the master station transmitting time and the slave station receiving time, wherein the time offset difference signal and the master station transmitting time difference signal are determined by the following formula:
ΔT DL (K)＝T S,RX (K)-T M,TX (K)；
ΔT DL (K)＝Δξ(K)+τ+ε(K)；
ΔT DL (K+1)＝T S,RX (K+1)-T M,TX (K+1)；
ΔT DL (K+1)＝Δξ(K+1)+τ+ε(K+1)；
ΔT DL (K+1)-ΔT DL (K)＝Pa；
T M,TX (K+1)-T M,TX (K)＝Pb；
wherein the T is M,TX (K) The master station transmitting time for transmitting a first data packet to the master station, the T S,RX (K) For the slave station receiving time of the slave station receiving the first data packet, the T M,TX (K+1) the master station transmission time for transmitting a second data packet for the master station, said T S,RX (k+1) being the slave station reception time at which the slave station receives the second data packet; said DeltaT DL (K) A first time offset signal between a master station transmit time for transmitting a first data packet to a master station and a slave station receive time for receiving the first data packet by a slave station, said DeltaT DL (K+1) a second time offset signal between the transmission time of a second data packet by a master station and the reception time of a second data packet by a slave station, the second data packet and the first data packet being the adjacent data packet, delta xi (K) being a first actual transmission time offset signal corresponding to the first data packet, delta xi (K+1) being a second actual transmission time offset signal corresponding to the second data packet, tau being an unknown communication transmission time signal between the master station and the slave station, epsilon (K) being a first time of the master station transmitting the first data packet and the slave station receiving the first data packetA inter-measurement noise signal, wherein epsilon (K+1) is a second time measurement noise signal of a master station transmitting the second data packet and a slave station receiving the first data packet, pa is the time offset difference signal of a slave station for receiving an adjacent data packet, pb is the master station transmitting time difference signal of a master station for transmitting an adjacent data packet, T is a time offset difference signal of a slave station for transmitting an adjacent data packet, and M,TX (K) Transmitting a first transmission time signal corresponding to the first data packet to a master station, wherein the T is as follows M,TX (k+1) transmitting a second transmission time signal corresponding to the second data packet for the master station.
In one embodiment, the calculating the clock frequency synchronization adjustment signal based on the time offset difference signal and the master station transmit time difference signal is calculated by the formula:
β(K)≈Pa/Pb；
the beta (K) is a clock frequency synchronization adjustment signal, the Pa is the time offset difference signal, and the Pb is the master station transmitting time difference signal.
In one embodiment, the step of maintaining synchronization with the master station by adjusting the current transmit time signal in accordance with the time offset signal received by the master station comprises:
performing low-pass filtering on the clock time offset signal received by the master station;
gradually and iteratively quantizing the low-pass filtered clock time offset signal received by the master station so that the clock time offset signal received by the master station tends to zero;
and adjusting the current transmitting time signal according to the receiving clock time offset signal of the master station, which is towards zero, and keeping clock synchronization with the master station.
In one embodiment, the step of synchronizing the adjustment signal with the master station by adjusting the current clock frequency signal further comprises:
Performing low-pass filtering on the clock frequency synchronization adjustment signal;
and adjusting the current clock frequency signal to the standard clock frequency signal according to the clock frequency synchronization adjusting signal after low-pass filtering.
According to a third aspect, an embodiment of the present invention further provides a clock synchronization device for wireless communication interaction, which is used for a master station, and includes the following modules:
the first determining module of the master station is used for respectively determining a target receiving time signal of the master station for receiving the data packet of the slave station and an actual receiving time signal of the master station;
the master station calculation module is used for calculating a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a master station receiving clock time offset signal;
the second determining module of the master station is used for determining the transmitting time of the master station for transmitting adjacent data packets to the slave station;
and the master station transmitting module is used for continuously transmitting the master station receiving clock time offset signal and the master station transmitting time to the slave station, so that the slave station adjusts the current transmitting time signal and the current clock frequency signal, and further keeps clock synchronization with the master station.
According to a fourth aspect, an embodiment of the present invention further provides a clock synchronization apparatus for wireless communication interaction, which is used for a slave station, and includes the following modules:
A first determining module of the slave station is used for determining the receiving time of the slave station, which is used for receiving the adjacent data packet sent by the master station by the slave station;
the secondary station second determining module is used for determining a time offset difference signal for receiving the adjacent data packet and a primary station transmitting time difference signal for transmitting the adjacent data packet by the primary station according to the primary station transmitting time and the secondary station receiving time;
the secondary station calculating module is used for calculating a clock frequency synchronization adjusting signal according to the time offset difference signal and the master station transmitting time difference signal;
and the secondary station adjusting module is used for synchronizing the adjusting signal according to the clock frequency and the receiving time offset signal of the primary station, and keeping synchronization with the primary station by adjusting the current clock frequency signal and the current transmitting time signal.
According to a fifth aspect, an embodiment of the present invention further provides a computer readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause the computer to perform the clock synchronization method for wireless communication interaction described in any implementation manner of the first aspect or the second aspect.
According to a sixth aspect, an embodiment of the present invention further provides an electronic device, including: the device comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, so as to execute the clock synchronization method of wireless communication interaction in any one of the embodiments of the first aspect or the second aspect.
The embodiment of the invention discloses a clock synchronization method and device for wireless communication interaction and electronic equipment, which are used for a master station, wherein the method comprises the following steps: wherein the method comprises the following steps: respectively determining a target receiving time signal of a master station for receiving the data packet of the slave station and an actual receiving time signal of the master station; calculating a difference signal between a target receiving time signal of the master station and an actual receiving time signal of the master station to obtain a receiving clock time offset signal of the master station; determining a master station transmission time for transmitting adjacent data packets to a slave station; the master station receiving clock time offset signal and the master station transmit time are continuously transmitted to the slave stations so that the slave stations adjust the current transmit time signal and the current clock frequency signal to maintain clock synchronization with the master station. The invention can obviously reduce the network transmission protocol and the network use cost, and is beneficial to clock synchronization between the master station and the slave station. In addition, because the master station continuously transmits broadcast data packets to the slave stations, even under the condition of high packet loss rate, accurate synchronization can still be realized, the robustness is better, and the overall network power consumption is lower. The master station transmits the clock time offset signal to the slave station, so that the slave station continuously compensates the local current transmitting time signal, the slave station and the master station can keep synchronous finally, meanwhile, the master station transmitting time of adjacent data packets is transmitted to the slave station, the slave station can adjust the current clock frequency signal, and when the clock synchronization meets a certain index, the distributed measurement service can be started.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a first flowchart of a clock synchronization method for wireless communication interaction in an embodiment of the present invention;
FIG. 2 is a schematic diagram of data interaction between a master station and a slave station in an embodiment of the present invention;
FIG. 3 is a second flowchart of a clock synchronization method for wireless communication interaction in an embodiment of the present invention;
FIG. 4 is a third flowchart of a clock synchronization method for wireless communication interaction in an embodiment of the present invention;
FIG. 5 is a diagram illustrating quantization of a clock synchronization quality indicator under a positive symbol condition according to an embodiment of the present invention;
FIG. 6 is a diagram of a clock synchronization frame of data interaction between a master station and a slave station in an embodiment of the present invention;
FIG. 7 is a schematic diagram of a distributed grid measurement system according to an embodiment of the present invention;
FIG. 8 is a first block diagram of a clock synchronization device for wireless communication interaction in an embodiment of the present invention;
FIG. 9 is a second block diagram of a clock synchronization device for wireless communication interaction in an embodiment of the present invention;
fig. 10 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, or can be communicated inside the two components, or can be connected wirelessly or in a wired way. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
With the continuous popularization and penetration of renewable energy sources, electric automobiles, power electronic equipment, power line carrier communication and the like in power grid application, new challenges are faced for ensuring reliable operation and better electric energy quality of a power grid. Advanced sensing and internet of things technologies are needed to provide reliable information for grid operation and equipment status monitoring. And identifying the abnormality and the potential interference source as early as possible, and adopting corresponding measures to eliminate hidden danger.
Distributed multipoint measurement and multiphase Guan Canliang analysis are efficient ways to detect anomalies and to locate grid state detection of sources of disturbance in order to support distributed implementation of synchronous measurements, i.e. time synchronization between different sensor nodes is required. In the related art, in order to ensure clock data transmission synchronization, a GPS satellite positioning synchronization mode or a Beidou satellite positioning synchronization mode is generally adopted, however, the wireless communication interaction clock synchronization mode has higher use cost and higher power consumption.
Example 1
In view of this, an embodiment of the present invention provides a clock synchronization method for wireless communication interaction, which is used for a Master station (Master, abbreviated as M) and a plurality of Slave stations (Slave, abbreviated as S) to form a wireless communication network. The master station exchanges data with a plurality of stations by transmitting and receiving radio frequency signals. The clock synchronization method for wireless communication interaction in the embodiment of the invention, as shown in fig. 1, comprises the following steps:
step S11: the target reception time signal of the master station and the actual reception time signal of the master station for receiving the data packets of the slave station are determined respectively.
Here, the secondary station data packet is a data packet transmitted from the secondary station to the primary station in the uplink. In a distributed measurement system, the secondary stations need to continuously upload measurement data to the primary station. The target receiving time signal of the master station is The actual receiving time signal of the master station is T M,RX (L)。
The primary station and the secondary station may assume a distance between the secondary station and the primary station of 15km before clock synchronization, and an initial estimate of the propagation time of the radio frequency signal of 50 mus is obtained, i.e. the unknown communication transmission time signal tau between the primary station and the secondary station is 50 mus at this time, which tau is the unknown communication transmission time between the primary station and a specific secondary station, which is a constant when the distance between the primary station and the secondary station is determined.
In one embodiment, the above step S11 determines that the target reception time signal of the master station for receiving the slave station packet is determined by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,receive time signal for master station target,/->For a secondary station that is used by the secondary station to transmit data packets, a transmit time signal is predicted, τ (L) being the communication transmission predicted time signal.
Similarly, in one embodiment, the actual reception time signal of the master station receiving the slave station packet in step S11 is obtained by the following formula:
T M,RX (L)＝T S,TX (L)+Δξ(L)+τ+ε 2 (L)； (2)；
wherein T is M,RX (L) is the actual reception time signal of the master station, T S,TX (L) is the actual transmission time signal of the slave station for transmitting data packets, Δζ (L) is the actual reception time offset signal of the master station for receiving data packets of the slave station, τ is the unknown communication transmission time signal between the master station and the slave station, ε 2 (L) receiving a time measurement noise signal for the master station.
Step S12: and calculating a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a receiving clock time offset signal of the master station.
Since the actual reception time signal of the master station is susceptible to the reception of noise signals by the master station and the transmission of noise signals by the slave station, it is apparent that there is a certain time offset between the target reception time signal of the master station and the actual reception time signal of the slave station.
Step S12 calculates a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a master station receiving clock time offset signal, and calculates the difference signal by the following formula:
wherein DeltaT UL (L) receiving a clock time offset signal for the master station, T M,RX (L) is the actual reception time signal by the master station,a time signal is received for the primary station target.
In addition, the actual transmission time signal of the secondary station is also susceptible to the transmission of noise signals by the secondary station,
substituting the above formula (3) and the above formulas (1) and (2) into the formula (3) respectively to obtain the following formulas:
where Δτ (L) =τ - τ (L) is the communication transmission error signal when the slave transmits the L-th upstream packet, and ε 1 (L) +ε2 (L) is the sum of the slave transmit time measurement noise signal and the master receive time measurement noise signal. Obviously, the master station receive clock time offset signal is caused by the actual receive time offset signal Δζ (L) and the communication transmission error signal Δτ (L) used by the master station to receive the slave station data packets, the slave station transmit time measurement noise signal and the master station receive time measurement noise signal and ε 1 (L) +ε2 (L).
Step S13: a master transmit time for transmitting adjacent data packets to a slave is determined.
Specifically, the primary station is used to transmit data packets to the secondary station is referred to as downlink, and the secondary station is referred to as uplink. Here, adjacent packets are packets that are sequentially adjacent to each other for transmission in the downlink, for example: the K packet and the k+1 packet in the downlink are adjacent packets to each other.
The master station transmission time is here the locally generated transmission time of the master station. For example: the master station transmitting time for the master station to transmit K data packets to the slave station is T M,TX (K) The transmission time of the master station transmitting K+1 data packets to the slave station is T M,TX (K+1). For example: assuming that the master station transmits a Kth downlink data packet, the master station measures the Kth downlinkThe transmission time of the main station of the data packet is T M,TX (K) The subscript "M" identifies as the master station.
Assuming that the maximum distance between the secondary station and the primary station is 15km, the maximum propagation time of the radio frequency signal is 50 mus, i.e. the unknown communication transmission time signal τ between the primary station and the secondary station is 50 mus at this time, which τ is the unknown communication transmission time between the primary station and a specific secondary station, which is a constant when the distance between the primary station and the secondary station is determined. The clock frequency offset is smaller in time offset in the period of time, and the clock frequency offset is accurate continuously along with the synchronization of the clock frequency.
As shown in fig. 2, the master station transmits a downlink data packet with the slave station and the unknown communication transmission time τ between the master station and the slave station. The primary station transmits K data packets in the downlink with a corresponding time offset signal of DeltaT DL (K) The primary station transmits K+1 data packets in the downlink with a corresponding time offset signal of DeltaT DL (K+1)。
Step S14: the master station receiving clock time offset signal and the master station transmit time are continuously transmitted to the slave stations so that the slave stations adjust the current transmit time signal and the current clock frequency signal to maintain clock synchronization with the master station.
The method has the advantages that the clock time offset signal and the master station transmitting time are continuously transmitted to the slave station, so that the situation that the slave station can still keep synchronization with the master station accurately even if the packet loss rate is high can be avoided, and the robustness is good.
The master station always feeds back the master station receiving clock time offset signal to the slave station, so that the slave station continuously compensates the local slave station current transmitting time signal according to the receiving clock time offset signal fed back by the master station, and further adjusts the current transmitting clock time of the uplink data packet to form a closed loop control, and continuously reduces the receiving time error of the data packet in the uplink, so that the master station receiving clock time offset signal approaches zero.
Meanwhile, the master station transmits time signals to the slave stations for continuously transmitting adjacent data packets, so that the slave stations determine clock frequency synchronization adjusting signals, the local clock frequency of the slave stations is adjusted, and finally, the phenomenon that the slave stations located at different distance positions transmit uplink data packets to overlap signals can be avoided.
The master station always feeds back the master station receiving clock time offset signal to the slave station, so that the slave station continuously compensates the local current transmitting time signal according to the receiving clock time offset signal fed back by the master station, and further adjusts the transmitting clock time of the slave station of the uplink data packet to form a closed loop control, and the receiving time error of the uplink data packet is continuously reduced until the receiving clock time offset signal of the master station approaches zero. In addition, because the master station continuously transmits the data broadcast packet to the slave station, even under the condition of high packet loss rate, accurate synchronization can still be realized, and the robustness is better.
In one implementation manner, the clock synchronization method for wireless communication interaction in the embodiment of the invention loads the clock time offset signal received by the master station and the master station transmitting time of the adjacent data packet in the broadcast data packet and sends the broadcast data packet to the slave station.
The master station broadcasts a signal transmission time (time stamp) using broadcast data packets in the downlink (e.g., frame header beacons), the time stamp signal requiring only one byte, most commonly at each frame header (frame header), for broadcasting network information, allocating channel resources, etc. The broadcast data packet may be set as a small sub-packet customized for each secondary station for feeding back information to the secondary station. The subpacket typically does not exceed 2 bytes. If the amount of feedback information is large, the master station can set unicast packets. In this embodiment, clock information (clock time offset signal received by the master station, time signal transmitted by the master station) is loaded in the broadcast packet and fed back to the slave station. The master station only needs to add one byte of clock information signal to each downlink broadcast data packet, obviously, the occupation of communication resources to the network is small, and the protocol overhead can be obviously reduced.
According to the clock synchronization method for wireless communication interaction in the embodiment of the invention, the master station calculates the difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain the receiving clock time offset signal of the master station, and feeds the difference signal back to the slave station, so that the slave station continuously compensates the local current transmitting time signal of the slave station, and finally, the slave station and the master station can keep synchronous, and meanwhile, the master station transmitting time of adjacent data packets is transmitted to the slave station, so that the slave station can adjust the current clock frequency signal, and when the clock synchronization meets a certain index, the distributed measurement service can be started. Therefore, protocol overhead can be reduced, cost is low, and overall network power consumption is low based on interaction of the master station and the slave station.
Example 2
Based on the same conception, the embodiment of the invention also provides a clock synchronization method for wireless communication interaction, which is used for Slave stations (S for short), wherein in a wireless network, a plurality of Slave stations are provided, and the Slave stations and a Master station (M for short) form a wireless communication network. The master station exchanges data with a plurality of stations by transmitting and receiving radio frequency signals. The master station exchanges data with a plurality of stations by transmitting and receiving radio frequency signals. The clock synchronization method for wireless communication interaction in the embodiment of the invention, as shown in fig. 3, comprises the following steps:
Step S31: the master station transmit time and the master station receive clock time offset signals are received, respectively.
The master station transmission time here is the master station transmission time when the master station transmits adjacent data packets, for example: the master station transmitting time for the master station to transmit K data packets to the slave station is T M,TX (K) The transmission time of the master station transmitting K+1 data packets to the slave station is T M,TX (K+1). The master station here receives a clock time offset signal of DeltaT UL (L)。
Step S32: the slave station receiving time of the slave station receiving the master station transmitting the adjacent data packet is determined.
The receiving time of the downlink data packet measured by the slave station is T S,RX (K) The "S" symbol secondary station, subscript "RX" identifies the reception, here secondary station reception time T S,RX (K) Is the locally generated reception time of the slave station. In fig. 2, a schematic diagram of a transmission time τ of communication between a master station and a slave station and between the master station and the slave station transmitting a downlink data packet and a downlink data packet is shown. The primary station transmits K data packets in the downlink with a corresponding time offset signal of DeltaT DL (K) The primary station transmits K+1 data packets in the downlink, which is specific toThe corresponding time offset signal is DeltaT DL (K+1)。
Step S33: and determining a time offset difference signal for receiving the adjacent data packet and a master station transmitting time difference signal for transmitting the adjacent data packet by the master station according to the master station transmitting time and the slave station receiving time.
Step S33 determines, according to the master station transmission time and the slave station reception time, a time offset difference signal for receiving the adjacent data packet and a master station transmission time difference signal for transmitting the adjacent data packet by the master station, by the following formula:
ΔT DL (K)＝T S,RX (K)-T M,TX (K)； (6)；
ΔT DL (K)＝Δξ(K)+τ+ε(K)； (7)；
ΔT DL (K+1)＝T S,RX (K+1)-T M,TX (K+1)； (8)；
ΔT DL (K+1)＝Δξ(K+1)+τ+ε(K+1)； (9)；
ΔT DL (K+1)-ΔT DL (K)＝Pa； (10)；
T M,TX (K+1)-T M,TX (K)＝Pb； (11)；
wherein T is M,TX (K) Master station transmission time, T, for transmitting a first data packet to a master station S,RX (K) Time T for receiving the first data packet by the slave station M,TX (K+1) Master station transmit time, T, for the Master station to transmit the second data packet S,RX (k+1) is a slave station reception time at which the slave station receives the second data packet; delta T DL (K) A first time offset signal, deltaT, between a master station transmit time for transmitting a first data packet to a master station and a slave station receive time for receiving the first data packet to a slave station DL (K+1) is a second time offset signal between the transmission time of the master station for transmitting the second data packet and the receiving time of the slave station for receiving the second data packet, wherein the second data packet and the first data packet are adjacent data packets, delta zeta (K) is a first actual transmission time offset signal corresponding to the first data packet, delta zeta (K+1) is a second actual transmission time offset corresponding to the second data packetShifting signal, τ being an unknown communication transmission time signal between the master and the slave, ε (K) being a first time measurement noise signal for the master to transmit a first data packet and the slave to receive a first data packet, ε (K+1) being a second time measurement noise signal for the master to transmit a second data packet and the slave to receive a first data packet, pa being a time offset difference signal for the slave to receive an adjacent data packet, pb being a master transmit time difference signal for the master to transmit an adjacent data packet, T M,TX (K) Transmitting a first transmission time signal corresponding to a first data packet for a master station, T M,TX (k+1) transmitting a second transmission time signal corresponding to the second data packet for the master station.
Step 34: and calculating a clock frequency synchronization adjustment signal according to the time offset difference signal and the master station transmission time difference signal.
Using the above equations (6) - (11), the following equation (12) can be further derived, where the clock frequency synchronization adjustment signal can be represented by β (K) through which the local clock frequency of the master station can be adjusted.
In one embodiment, the step S34 calculates the clock frequency synchronization adjustment signal according to the time offset difference signal and the master station transmit time difference signal by the following formula:
β(K)≈Pa/Pb；(12)；
beta (K) is a clock frequency synchronization adjustment signal, pa is a time offset difference signal, and Pb is a master station transmission time difference signal. The slave station adjusts the local clock frequency by β (K) and eventually achieves synchronization with the master station clock frequency.
Wherein the time offset difference signal Pb is caused by the actual transmit time offset signals Δζ (K) and Δζ (k+1), the communication transmission time signal τ, and the primary station transmit noise signal factors ε (K) and ε (k+1). Wherein the actual transmitting time offset signals delta xi (K) and delta xi (K+1) are formed by the accumulation of clock frequency offset of the master station and the slave station.
Step S35: the adjustment signal and the master station receive time offset signal are synchronized according to the clock frequency, and the current clock frequency signal and the current transmit time signal are kept synchronized with the master station by adjusting.
The clock frequency synchronization adjustment signal herein may adjust the local clock frequency of the secondary station to a standard clock frequency to ensure that the local clock frequency of the secondary station is sufficiently accurate to ultimately achieve synchronization with the clock frequency of the primary station. The received time offset signal here is DeltaT UL The secondary station continuously compensates the current transmitting time signal of the local secondary station according to the receiving clock time offset signal of the primary station, and further adjusts the transmitting clock time of the secondary station of the uplink data packet to form a closed loop control, so that the receiving time error of the uplink packet is continuously reduced, the receiving clock time offset signal of the primary station is enabled to be close to zero, and finally, the synchronization with the primary station is achieved.
As shown in fig. 4, the step S35 is determined by adjusting the current transmission time signal to be synchronous with the master station according to the reception time offset signal of the master station, by:
step S351: the master station receives the clock time offset signal and low pass filters it.
The low-pass filtering is carried out on the clock time offset signal received by the master station, so that the influence of noise on the clock synchronization precision can be effectively reduced
Step S352: the master station receiving clock time offset signal after low-pass filtering is quantized in a stepwise iterative mode so that the master station receiving clock time offset signal tends to zero.
According to the specification, in order to realize low-pass filtering of the clock time offset signal received by the master station, the wireless network node cannot transmit for more than one second at a time. Assume that the clock resolution is 1ns. The master station thus receives the clock time offset signal deltat UL (L) takes 30 bits to represent, if linear quantization is used, 0.5s/0.5 ns=109 values in the 0.5ns and 0.5s interval, and the protocol overhead is not negligible. The purpose of the synchronization of the master station and the slave stations is to finally lead the master station to receive the clock time offset signal delta T through gradual iterative quantization UL (L) goes to zero. Delta T before synchronization of master station and slave station UL (L) is larger and can be dequantized with large granularity, when DeltaT UL (L) becomes small and tends to zero, and the quantization accuracy is fine.
ΔT UL ＝(-1) b0 *2 (-s) ns； (13)；
TABLE 1
Table 1 above is a 6 bit clock synchronization quality index quantization. And a diagram of quantization of the clock synchronization quality index in the case of positive symbols is shown in fig. 5. The master station needs to feed back the clock time offset signal delta T received by the master station to each uplink data packet UL . Since only 6 bits of data are needed, the master station can feed back delta T to the slave stations by utilizing the small sub-packet customized for each slave station in the broadcast data packet UL 。
Step S353: the current transmitting time signal is adjusted according to the receiving clock time offset signal of the master station which is close to zero, and the current transmitting time signal and the master station keep clock synchronization.
In an initialization phase of synchronization of the master station and the slave station, the slave station adjusts the local clock frequency according to the clock frequency synchronization adjustment signal. Meanwhile, the slave station also receives a master station receiving clock time offset signal fed back by the master station, the master station receiving clock time offset signal is continuously updated in the synchronization process, and finally the master station receiving clock time offset signal is enabled to be zero.
The clock synchronization method for wireless communication interaction in the embodiment of the invention realizes accurate clock distribution between the slave stations, and the master station and the slave stations perform uplink and downlink data packet interaction without defining a specific clock synchronization protocol and data packets or changing a Time Division Multiple Access (TDMA) architecture and protocol, thereby being quite convenient for information interaction. The slave station receives the clock time offset signal according to the master station fed back by the master station, so that the current transmitting time signal can be adjusted, no information is fed back to the master station, and protocol overhead is reduced.
In another embodiment, the step S35 is determined by adjusting the current clock frequency signal to keep synchronous with the master station according to the clock frequency synchronization adjustment signal by:
The first step: the clock frequency synchronization adjustment signal is low pass filtered.
Since the reliability of the clock frequency synchronization adjustment signal β (K) is susceptible to the first time measurement noise epsilon (K) and the second time measurement noise epsilon (k+1) of the data packet transmitted by the master station, the accuracy of the slave station in adjusting the local clock frequency is ultimately affected, and therefore, the accuracy of the clock frequency signal is ensured by low-pass filtering the clock frequency synchronization adjustment signal.
And a second step of: and adjusting the current clock frequency signal to the standard clock frequency signal according to the clock frequency synchronization adjusting signal after the low-pass filtering.
For example: the standard clock frequency signal is 45Hz and the current frequency of the clock frequency synchronization adjustment signal is 44.8Hz, adjusting the clock frequency signal at 44.8Hz to 45Hz.
Therefore, according to the clock synchronization method for wireless communication interaction in the embodiment of the invention, the slave station adjusts the local current clock frequency signal to the standard clock frequency signal based on the clock frequency synchronization adjusting signal, the standard clock frequency signal is used as the reference clock frequency signal of the slave station, and the local clock frequency is adjusted through the standard clock frequency signal, so that the slave station can synchronize with the clock frequency signal of the master station.
In particular, to better utilize channel resources, avoiding random channel collisions, embodiments of the present invention are based on the Time Division Multiple Access (TDMA) channel access and resource allocation MAC (Medium Access Control) protocol. The channel is divided in the time domain into TDMA frames (frames), each frame being subdivided into a number of slots (slots). The master station pre-allocates the use of slot resources. The master station uses the broadcast data packet in the downlink to interact with the slave station, and the slave station interacts with the master station by adjusting the local clock frequency to divide time slots. The secondary station continuously adjusts the local secondary station current transmitting time signal according to the receiving clock time offset signal fed back by the primary station so as to keep synchronous with the primary station, and the phenomenon that the secondary stations positioned at different distance positions transmit uplink data packets to overlap the signals can be avoided.
The clock synchronization method for wireless communication interaction in the embodiment of the invention realizes accurate clock distribution between the slave stations, and the master station and the slave stations perform uplink and downlink data packet interaction without defining a specific clock synchronization protocol and data packets or changing a Time Division Multiple Access (TDMA) architecture and protocol, thereby being quite convenient for information interaction. The secondary station can adjust the local clock frequency and the current transmitting time signal of the secondary station according to the standard clock frequency signal fed back by the primary station and the clock time offset signal received by the primary station, any information is not required to be fed back to the primary station, protocol overhead is reduced, and overall network power consumption and network use cost are reduced.
As shown in fig. 6, a clock synchronization frame diagram for data interaction between a master station and a slave station is shown. Wherein 1 is an external clock source, 2 is a master station with a radio frequency interface, 3 is a slave station with a radio frequency interface, 4 is a radio frequency receiver, 5 is a controller, 6 is a clock module, 7 is a local oscillator, 8 is a clock correction unit, 9 is a configuration, 10 is a corrected clock time, 11 is data and configuration interaction, 12 is a transmitted data packet event, 13 is a received data packet event, 14 is a time stamp unit, and 15 is a clock-based transmission start.
As shown in fig. 7, the distributed power grid measurement system is measured by the clock synchronization method of wireless communication interaction in the embodiment of the invention, which comprises a master station and a plurality of slave stations interacting with the master station, wherein the slave stations need to continuously upload measurement data to the master station. In fig. 7, the master station pre-allocates upstream packet time slots to the slaves in accordance with a TDMA scheme. The secondary station continuously adjusts the local secondary station current transmitting time signal according to the receiving clock time offset signal fed back by the primary station so as to keep synchronous with the primary station. The phenomenon of signal overlapping of the uplink data packet sent by the secondary stations positioned at different distance positions can be avoided. Therefore, protocol overhead can be reduced, cost is low, and overall network power consumption is low based on interaction of the master station and the slave station.
Example 3
Based on the same conception, the embodiment of the invention also provides a clock synchronization device for wireless communication interaction, which is used for a master station, and as shown in fig. 8, comprises the following modules:
the primary station first determining module 81 is configured to determine a primary station target receiving time signal and a primary station actual receiving time signal for receiving the secondary station data packet respectively.
The master station calculating module 82 is configured to calculate a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a master station receiving clock time offset signal.
The primary station second determining module 83 is configured to determine a primary station transmission time for transmitting the neighboring data packet to the secondary station.
The master station transmitting module 84 is configured to continuously transmit the master station receiving clock time offset signal and the master station transmitting time to the slave station, so that the slave station adjusts the current transmitting time signal and the current clock frequency signal, and further maintains clock synchronization with the master station.
In one implementation manner, in the clock synchronization device for wireless communication interaction in the embodiment of the present invention, the first determining module 81 of the master station determines that the target receiving time signal of the master station for receiving the data packet of the slave station is determined by the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,receive time signal for master station target,/- >For a secondary station that is used by the secondary station to transmit data packets, a transmit time signal is predicted, τ (L) being the communication transmission predicted time signal.
In one implementation manner, in the clock synchronization device for wireless communication interaction in the embodiment of the present invention, the first determining module 81 of the master station determines that the actual receiving time signal of the master station that receives the data packet of the slave station is obtained by the following formula:
T M,RX (L)＝T S,TX (L)+Δξ(L)+τ+ε 2 (L)； (2)；
wherein T is M,RX (L) is the actual reception time signal of the master station, T S,TX (L) is the actual transmission time signal of the slave station for transmitting the data packet, deltaζ (L) is the actual reception time offset signal of the master station for receiving the data packet of the slave station, tau is the unknown communication transmission time signal between the master station and the slave station, epsilon 2 (L) receiving a time measurement noise signal for the master station.
In one implementation manner, in the clock synchronization device for wireless communication interaction in the embodiment of the present invention, the master station calculation module 82 calculates a difference signal between a target receiving time signal of a master station and an actual receiving time signal of the master station to obtain a master station receiving clock time offset signal, and calculates the clock time offset signal by the following formula:
wherein DeltaT UL (L) receiving a clock time offset signal for the master station, T M,RX (L) is the actual reception time signal by the master station,a time signal is received for the primary station target.
In one implementation manner, the clock synchronization device for wireless communication interaction in the embodiment of the invention loads a clock time offset signal received by a master station and a master station transmitting time signal into a broadcast data packet and sends the broadcast data packet to a slave station.
According to the clock synchronization device for wireless communication interaction in the embodiment of the invention, the master station calculates the difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain the receiving clock time offset signal of the master station, and feeds the difference signal back to the slave station, so that the slave station continuously compensates the local current transmitting time signal of the slave station, and finally, the slave station and the master station can keep synchronous, and meanwhile, the master station transmitting time of adjacent data packets is transmitted to the slave station, so that the slave station can adjust the current clock frequency signal, and when the clock synchronization meets a certain index, the distributed measurement service can be started. Therefore, protocol overhead can be reduced, cost is low, and overall network power consumption is low based on interaction of the master station and the slave station.
Example 4
The embodiment of the invention also provides a clock synchronization device for wireless communication interaction, which is used for the slave station, as shown in fig. 9, and comprises the following modules:
the secondary station receiving module 91 is configured to receive the primary station transmission time and the primary station receiving clock time offset signal respectively.
The secondary station first determining module 92 is configured to determine a secondary station receiving time when the secondary station receives the secondary station transmitting the neighboring data packet.
The secondary station second determining module 93 is configured to determine, according to the transmission time of the primary station and the receiving time of the secondary station, a time offset difference signal for receiving the adjacent data packet and a transmission time difference signal of the primary station for transmitting the adjacent data packet.
The slave station calculating module 94 is configured to calculate a clock frequency synchronization adjustment signal according to the time offset difference signal and the master station transmit time difference signal.
The secondary station adjusting module 95 is configured to synchronize the adjusting signal and the primary station receiving the time offset signal according to the clock frequency, and keep synchronization with the primary station by adjusting the current clock frequency signal and the current transmission time signal.
In one embodiment, in the clock synchronization device for wireless communication interaction in the embodiment of the present invention, the secondary station receiving module 91 determines, according to the transmission time of the primary station and the receiving time of the secondary station, a time offset difference signal for receiving the adjacent data packet and a primary station transmission time difference signal for transmitting the adjacent data packet by the primary station, where the time offset difference signal is determined by the following formula:
ΔT DL (K)＝T S,RX (K)-T M,TX (K)； (6)；
ΔT DL (K)＝Δξ(K)+τ+ε(K)； (7)；
ΔT DL (K+1)＝T S,RX (K+1)-T M,TX (K+1)； (8)；
ΔT DL (K+1)＝Δξ(K+1)+τ+ε(K+1)； (9)；
ΔT DL (K+1)-ΔT DL (K)＝Pa； (10)；
T M,TX (K+1)-T M,TX (K)＝Pb； (11)；
wherein T is M,TX (K) Master station transmission time, T, for transmitting a first data packet to a master station S,RX (K) Time T for receiving the first data packet by the slave station M,TX (K+1) Master station transmit time, T, for the Master station to transmit the second data packet S,RX (k+1) is a slave station reception time at which the slave station receives the second data packet; delta T DL (K) A first time offset signal, deltaT, between a master station transmit time for transmitting a first data packet to a master station and a slave station receive time for receiving the first data packet to a slave station DL (K+1) a second time offset signal between the transmission time of the master station transmitting the second data packet and the reception time of the slave station receiving the second data packet, the second data packet and the first data packet being adjacent data packets, Δζ (K) a first actual transmission time offset signal corresponding to the first data packet, Δζ (K+1) a second actual transmission time offset signal corresponding to the second data packet, τ being an unknown communication transmission time signal between the master station and the slave station, ε (K) a first time measurement noise signal of the master station transmitting the first data packet and the slave station receiving the first data packet, ε (K+1) a second time measurement noise signal of the master station transmitting the second data packet and the slave station receiving the first data packet, pa being a time offset difference signal of the slave station for receiving the adjacent data packet, pb being a master station transmission time difference signal of the master station for transmitting the adjacent data packet, T M,TX (K) Transmitting a first transmission time signal corresponding to a first data packet for a master station, T M,TX (k+1) transmitting a second transmission time signal corresponding to the second data packet for the master station.
According to the wireless communication interactive clock synchronization device in the embodiment of the invention, the slave station calculation module 94 calculates a clock frequency synchronization adjustment signal according to the time offset difference signal and the master station transmitting time difference signal by the following formula:
β(K)≈Pa/Pb；
beta (K) is a clock frequency synchronization adjustment signal, pa is a time offset difference signal, and Pb is a master station transmission time difference signal.
In the clock synchronization device for wireless communication interaction in the embodiment of the present invention, the slave station adjusting module 95 includes:
and the first filtering submodule is used for carrying out low-pass filtering on the clock time offset signal received by the master station.
And the iteration submodule is used for carrying out gradual iteration quantization on the low-pass filtered master station receiving clock time offset signal so that the master station receiving clock time offset signal tends to zero.
And the time adjustment sub-module is used for adjusting the current transmitting time signal to keep clock synchronization with the master station according to the master station receiving clock time offset signal which is towards zero.
In the clock synchronization device for wireless communication interaction in the embodiment of the present invention, the slave station adjusting module 95 further includes:
The second filtering sub-module is used for carrying out low-pass filtering on the clock frequency synchronous adjustment signal;
and the frequency adjustment sub-module is used for adjusting the current clock frequency signal to the standard clock frequency signal according to the clock frequency synchronization adjustment signal after the low-pass filtering.
The clock synchronization device for wireless communication interaction in the embodiment of the invention realizes accurate clock distribution among the slave stations, and the master station and the slave stations perform uplink and downlink data packet interaction without defining a specific clock synchronization protocol and data packets or changing a Time Division Multiple Access (TDMA) architecture and protocol, so that the information interaction is quite convenient. The slave station can adjust the local clock frequency and the current transmitting time signal according to the master station feedback master station receiving clock time offset signal and the master station transmitting time of the adjacent data packet, and no information is required to be fed back to the master station. Therefore, protocol overhead can be reduced, cost is low, and overall network power consumption is low based on interaction of the master station and the slave station.
Example 5
Based on the same conception, the embodiment of the present invention further provides an electronic device, as shown in fig. 10, which may include a processor 121 and a memory 122, where the processor 121 and the memory 122 may be connected by a bus or other manners, and in fig. 10, the connection is exemplified by a bus.
The processor 121 may be a central processing unit (Central Processing Unit, CPU). The processor 121 may also be any other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or any combination thereof.
Memory 122, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules. The processor 121 executes various functional applications of the processor and data processing, i.e., a clock synchronization method for implementing wireless communication interactions in the above-described method embodiments, by running non-transitory software programs, instructions, and modules stored in the memory 122.
Memory 122 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created by the processor 121, etc. In addition, the memory 122 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 122 may optionally include memory located remotely from processor 121, which may be connected to processor 121 via a network. Examples of such networks include, but are not limited to, the power grid, the internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
The one or more modules are stored in the memory 122 and when executed by the processor 121 perform the clock synchronization method of wireless communication interactions in the embodiment shown in the figures.
The specific details of the electronic device may be understood by referring to the corresponding related description and effects of the embodiments shown in the drawings, and are not described herein.
It will be appreciated by those skilled in the art that implementing all or part of the above-described embodiment method may be implemented by a computer program to instruct related hardware, where the program may be stored in a computer readable storage medium, and the program may include the above-described embodiment method when executed. Wherein the storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (12)

1. A method of clock synchronization for wireless communication interactions, comprising the steps of:
respectively determining a target receiving time signal of a master station for receiving the data packet of the slave station and an actual receiving time signal of the master station;
calculating a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a master station receiving clock time offset signal;
determining a master station transmission time for transmitting adjacent data packets to a slave station;
continuously transmitting the master station receiving clock time offset signal and the master station transmitting time to the slave station, so that the slave station adjusts the current transmitting time signal and the current clock frequency signal to further keep clock synchronization with the master station; and calculating a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a master station receiving clock time offset signal, wherein the calculation is carried out according to the following formula:
wherein the DeltaT UL (L) receiving a clock time offset signal for the master station, the T M,RX (L) is the actual reception time signal of the master station, theAnd receiving a time signal for the master station target.
2. The method of claim 1, wherein the determining the master station target receive time signal for receiving the slave station data packet is determined by the formula:
Wherein the saidReceiving a time signal for said master station target, < >>For a secondary station that is used by the secondary station to transmit data packets, a transmit time signal is predicted, τ (L) being the communication transmission predicted time signal.
3. The method of claim 1, wherein the determining the actual time signal received by the master station receiving the slave station data packet is obtained by:
T M,RX (L)＝T S,TX (L)+Δξ(L)+τ+ε 2 (L)；
wherein the T is M,RX (L) is the actual reception time signal of the master station, the T S,TX (L) is the actual transmission time signal of the slave station used by the slave station to transmit the data packet, Δζ (L) is the actual reception time offset signal used by the master station to receive the data packet of the slave station, τ is the unknown communication transmission time signal between the master station and the slave station, ε 2 (L) receiving a time measurement signal for the master station.
4. A method of clock synchronization for wireless communication interactions according to any one of claims 1 to 3, wherein the master receive clock time offset signal and the master transmit time load of the adjacent data packet are transmitted in broadcast data packets to a slave station.
5. A method of clock synchronization for wireless communication interactions, comprising the steps of:
Respectively receiving a master station transmitting time and a master station receiving clock time offset signal;
determining the receiving time of a secondary station for receiving the adjacent data packet sent by the primary station;
determining a time offset difference signal for receiving adjacent data packets and a master station transmitting time difference signal for transmitting the adjacent data packets by the master station according to the master station transmitting time and the slave station receiving time;
calculating a clock frequency synchronization adjustment signal according to the time offset difference signal and the master station transmitting time difference signal;
according to the clock frequency synchronization adjustment signal and the master station receiving time offset signal, keeping synchronization with the master station by adjusting the current clock frequency signal and the current transmitting time signal;
and determining a time offset difference signal for receiving the adjacent data packet and a master station transmitting time difference signal for transmitting the adjacent data packet by the master station according to the master station transmitting time and the slave station receiving time, wherein the time offset difference signal and the master station transmitting time difference signal are determined by the following formula:
ΔT DL (K)＝T S,RX (K)-T M,TX (K)；
ΔT DL (K)＝Δξ(K)+τ+ε(K)；
ΔT DL (K+1)＝T S,RX (K+1)-T M,TX (K+1)；
ΔT DL (K+1)＝Δξ(K+1)+τ+ε(K+1)；
ΔT DL (K+1)-ΔT DL (K)＝Pa；
T M,TX (K+1)-T M,TX (K)＝Pb；
wherein the T is M,TX (K) The master station transmitting time for transmitting a first data packet to the master station, the T S,RX (K) For the slave station receiving time of the slave station receiving the first data packet, the T M,TX (K+1) the master station transmission time for transmitting a second data packet for the master station, said T S,RX (k+1) being the slave station reception time at which the slave station receives the second data packet; said DeltaT DL (K) A first time offset signal between a master station transmit time for transmitting a first data packet to a master station and a slave station receive time for receiving the first data packet by a slave station, said DeltaT DL (k+1) a second time offset signal between the transmission time of a second data packet for the master station and the reception time of the second data packet for the slave station, the second data packet and the first data packet being the adjacent data packet, Δζ (K) being a first actual transmission time offset signal corresponding to the first data packet, Δζ (k+1) being a second actual transmission time offset signal corresponding to the second data packet, τ being an unknown communication transmission time signal between the master station and the slave station, ε (K) being a first time measurement noise signal for the master station transmitting the first data packet and the slave station receiving the first data packet, ε (k+1) being a second time measurement noise signal for the master station transmitting the second data packet and the slave station receiving the first data packet, pa being the time offset difference signal for the slave station for receiving the adjacent data packet, pb being the master station for the time difference signal for transmitting the adjacent data packet, T M,TX (K) Transmitting a first transmission time signal corresponding to the first data packet to a master station, wherein the T is as follows M,TX (k+1) transmitting a second transmission time signal corresponding to the second data packet for the master station.
6. The method of claim 5, wherein said calculating a clock frequency synchronization adjustment signal based on said time offset difference signal and said master station transmit time difference signal is calculated by the formula:
β(K)≈Pa/Pb；
the beta (K) is a clock frequency synchronization adjustment signal, the Pa is the time offset difference signal, and the Pb is the master station transmitting time difference signal.
7. The method of clock synchronization for wireless communication interactions of claim 5, wherein said step of maintaining synchronization with a master station by adjusting a current transmit time signal in accordance with said master station receiving a time offset signal comprises:
performing low-pass filtering on the clock time offset signal received by the master station;
gradually and iteratively quantizing the low-pass filtered clock time offset signal received by the master station so that the clock time offset signal received by the master station tends to zero;
and adjusting the current transmitting time signal according to the receiving clock time offset signal of the master station, which is towards zero, and keeping clock synchronization with the master station.
8. The method of claim 5, wherein said step of synchronizing the adjustment signal according to said clock frequency, by adjusting the current clock frequency signal to maintain synchronization with the master station, further comprises:
performing low-pass filtering on the clock frequency synchronization adjustment signal;
and adjusting the current clock frequency signal to the standard clock frequency signal according to the clock frequency synchronization adjusting signal after low-pass filtering.
9. A wireless communication interactive clock synchronization device, which is used for a master station, and comprises the following modules:
the first determining module of the master station is used for respectively determining a target receiving time signal of the master station for receiving the data packet of the slave station and an actual receiving time signal of the master station;
the master station calculation module is used for calculating a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a master station receiving clock time offset signal;
the second determining module of the master station is used for determining the transmitting time of the master station for transmitting adjacent data packets to the slave station;
the master station transmitting module is used for continuously transmitting the master station receiving clock time offset signal and the master station transmitting time to the slave station, so that the slave station adjusts the current transmitting time signal and the current clock frequency signal, and further keeps clock synchronization with the master station; and calculating a difference signal between the target receiving time signal of the master station and the actual receiving time signal of the master station to obtain a master station receiving clock time offset signal, wherein the calculation is carried out according to the following formula:
Wherein the DeltaT UL (L) receiving a clock time offset signal for the master station, the T M,RX (L) is the actual reception time signal of the master station, theAnd receiving a time signal for the master station target.
10. A clock synchronization apparatus for wireless communication interaction, comprising:
the secondary station receiving module is used for respectively receiving the primary station transmitting time and the primary station receiving clock time offset signal;
a first determining module of the slave station is used for determining the receiving time of the slave station, which is used for receiving the adjacent data packet sent by the master station by the slave station;
the secondary station second determining module is used for determining a time offset difference signal for receiving the adjacent data packet and a primary station transmitting time difference signal for transmitting the adjacent data packet by the primary station according to the primary station transmitting time and the secondary station receiving time;
the secondary station calculating module is used for calculating a clock frequency synchronization adjusting signal according to the time offset difference signal and the master station transmitting time difference signal;
the secondary station adjusting module is used for synchronizing the adjusting signal according to the clock frequency and the primary station receiving time offset signal, and keeping synchronization with the primary station by adjusting the current clock frequency signal and the current transmitting time signal; and determining a time offset difference signal for receiving the adjacent data packet and a master station transmitting time difference signal for transmitting the adjacent data packet by the master station according to the master station transmitting time and the slave station receiving time, wherein the time offset difference signal and the master station transmitting time difference signal are determined by the following formula:
ΔT DL (K)＝T S,RX (K)-T M,TX (K)；
ΔT DL (K)＝Δξ(K)+τ+ε(K)；
ΔT DL (K+1)＝T S,RX (K+1)-T M,TX (K+1)；
ΔT DL (K+1)＝Δξ(K+1)+τ+ε(K+1)；
ΔT DL (K+1)-ΔT DL (K)＝Pa；
T M,TX (K+1)-T M,TX (K)＝Pb；
Wherein the T is M,TX (K) The master station transmitting time for transmitting a first data packet to the master station, the T S,RX (K) For the slave station receiving time of the slave station receiving the first data packet, the T M,TX (K+1) the master station transmission time for transmitting a second data packet for the master station, said T S,RX (k+1) being the slave station reception time at which the slave station receives the second data packet; said DeltaT DL (K) A first time offset signal between a master station transmit time for transmitting a first data packet to a master station and a slave station receive time for receiving the first data packet by a slave station, said DeltaT DL (K+1) said master station transmit time for transmitting a second data packet to the master station and the slave station receive the second data packetThe second data packet and the first data packet are the adjacent data packet, Δζ (K) is a first actual transmission time offset signal corresponding to the first data packet, Δζ (k+1) is a second actual transmission time offset signal corresponding to the second data packet, the tau is an unknown communication transmission time signal between a master station and a slave station, the epsilon (K) is a first time measurement noise signal of the master station transmitting the first data packet and the slave station receiving the first data packet, the epsilon (K+1) is a second time measurement noise signal of the master station transmitting the second data packet and the slave station receiving the first data packet, the Pa is the time offset difference signal of the slave station for receiving the adjacent data packet, the Pb is the master station transmitting the time difference signal of the master station for transmitting the adjacent data packet, the T is a time offset difference signal of the slave station for receiving the adjacent data packet, the T is a time offset difference signal of the master station for transmitting the adjacent data packet M,TX (K) Transmitting a first transmission time signal corresponding to the first data packet to a master station, wherein the T is as follows M,TX (k+1) transmitting a second transmission time signal corresponding to the second data packet for the master station.
11. A computer-readable storage medium storing computer instructions for causing the computer to perform the clock synchronization method of wireless communication interaction of any one of claims 1 to 8.
12. An electronic device, comprising: a memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions that, upon execution, perform the method of clock synchronization for wireless communication interaction of any one of claims 1 to 8.
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