CN114466445A - Base station synchronization method - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Abstract
The invention relates to the technical field of communication, and provides a base station synchronization method.A plurality of base stations share one fixed time service source, the time service grade of the fixed time service source is 1, each base station is provided with an original time service grade and a current time service grade, the original time service grade is unique, and the initial value of the original time service grade is equal to the initial value of the current time service grade; when the fixed time service source works normally, the base station synchronization is carried out according to the following method: when a first base station receives a data packet sent by a fixed time service source, clock synchronization of the first base station and the fixed time service source is executed, and the current time service level of the first base station is 2; the first base station is any one of a plurality of base stations. By the technical scheme, the problem of poor synchronization effect of the base station synchronization method in the prior art is solved.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a base station synchronization method.
Background
Compared with the traditional narrow-band system, the UWB positioning technology is also called as the UWB technology, and has the advantages of strong penetrating power, low power consumption, good multipath resistance effect, high safety, low system complexity, capability of providing accurate positioning and the like. Therefore, the ultra-wideband technology can be applied to positioning, tracking and navigation of indoor and outdoor static or moving objects and people, and can provide very accurate positioning precision. The realization of UWB positioning requires a terminal to respectively communicate with a plurality of base stations, the position and distance between the base stations can obtain the data through a surveying and mapping means in the early stage of deployment, and the position of the terminal in the positioning system can be obtained by calculating the distance between the terminal and each base station.
The base stations need to exchange information and need to be in pace with each other to accurately know the current state of the opposite side and predict the action to be generated at the next moment so as to be matched with tacit. Therefore, a set of accurate and efficient synchronization mechanism is designed, which is very important for improving the precision of the base station positioning system.
Disclosure of Invention
The invention provides a base station synchronization method, which solves the problem of poor synchronization effect of the base station synchronization method in the related technology.
The technical scheme of the invention is as follows:
a plurality of base stations share one fixed time service source, the time service level of the fixed time service source is 1, each base station is provided with an original time service level and a current time service level, the original time service level is unique, and the initial value of the original time service level is equal to the initial value of the current time service level; when the fixed time service source works normally, the base station synchronization is carried out according to the following method:
when a first base station receives a data packet sent by a fixed time service source, clock synchronization of the first base station and the fixed time service source is executed, and the current time service level of the first base station is 2; the first base station is any one of a plurality of base stations;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; and when the current time service level of the second base station is higher than the current time service level of the third base station, executing clock synchronization of the third base station and the second base station, and updating the current time service level of the third base station = the current time service level +1 of the second base station.
Further, when the fixed time service source exits, the base station synchronization is carried out according to the following method:
selecting a base station with the highest original time service level from a plurality of base stations with the highest current time service level as a temporary time service source; the current time service level of the temporary time service source is 2; updating the current time service level to 3 for other base stations with the current time service level of 2;
when the first base station receives a data packet sent by a temporary time service source, clock synchronization of the first base station and the temporary time service source is executed, and the current time service level of the first base station is updated to 3;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; when the current time service level of the second base station is higher than the current time service level of the third base station, updating the current time service level of the third base station = the current time service level +1 of the second base station; clock synchronization of the third base station and the second base station is performed.
Further, when the fixed time service source is accessed again, the base station synchronization is carried out according to the following method:
after the fixed time service source is powered on, starting receiving;
if the fixed time service source does not receive any base station signal within the set time, starting transmission according to the clock of the fixed time service source, wherein the time service grade of the fixed time service source is 1;
when the first base station receives a data packet sent by a fixed time service source, executing clock synchronization of the first base station and the fixed time service source, and updating the current time service level of the first base station to be 2; the first base station is any one of a plurality of base stations;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; when the current time service level of the second base station is higher than the current time service level of the third base station, updating the current time service level of the third base station = the current time service level +1 of the second base station; clock synchronization of the third base station and the second base station is performed.
Further, the fixed time service source and the base station are pre-allocated with sending time slot numbers, and the method further comprises the following steps:
if the fixed time service source receives a base station signal within the set time, the base station is taken as a time service base station, and the fixed time service source and the clock of the base station are synchronized;
obtaining a current time slot value by analyzing the data packet, and calculating the initial sending time according to the current time slot value and the sending time slot number of the fixed time service source;
when the initial transmission time arrives, the fixed time service source starts data transmission.
Further, the executing clock synchronization between the first base station and the fixed time service source specifically includes:
in a ranging period of the first base station, performing ranging from the first base station to the fixed time service source twice to obtain two ranging results;
when the difference value of the two ranging results meets the set range, updating the first base station clock;
the process of updating the first base station clock specifically includes:
the first base station obtains a first sending moment of the fixed time service source by analyzing a data packet sent by the fixed time service source; the first sending time of the fixed time service source is the sending time determined according to the clock of the fixed time service source;
and obtaining a second sending moment of the fixed time service source according to the receiving timestamp of the first base station and the two ranging results:
the second sending time of the fixed time service source = receiving time stamp-average value of two ranging results/signal transmission rate;
the second sending time of the fixed time service source is the sending time determined according to the clock of the first base station;
and calculating the difference value between the first sending time of the fixed time service source and the second sending time of the fixed time service source, and updating the first base station clock according to the difference value.
Furthermore, when the difference value of the two ranging results exceeds the set range, the clock of the first base station is not updated, and the original clock of the first base station is still maintained.
The working principle and the beneficial effects of the invention are as follows:
the invention determines the time service relation between the base stations by distributing an original time service level and a current time service level for each base station and dynamically updating the current time service level, wherein for a first base station receiving a fixed time service source signal, the current time service level is 2, the fixed time service source is used as the time service base station of the first base station, and the clock synchronization of the first base station and the fixed time service source is executed; and then, assuming that the second base station receives the data packet sent by the first base station and the current time service level of the first base station is higher than that of the second base station, the second base station takes the first base station as the time service base station to execute clock synchronization of the second base station and the first base station.
By analogy, the clock signal of the fixed time service source is synchronized to each base station step by step, and finally, the synchronization of the plurality of base stations and the fixed time service source is realized. In addition, the current time service level is represented by a natural number such as a number 2, 3, 4, …, and the smaller the number, the higher the current time service level.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of a normal working time service relationship of a fixed time service source in the present invention;
FIG. 2 is a schematic diagram of a fixed time service source quitting time service relationship in the present invention;
FIG. 3 is a schematic diagram of a fixed time service source reconnection process in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any inventive step, are intended to be within the scope of the present invention.
In the embodiment, a plurality of base stations share one fixed time service source, the time service level of the fixed time service source is 1, each base station is provided with an original time service level and a current time service level, the original time service level is unique, and an initial value of the original time service level is equal to an initial value of the current time service level; when the fixed time service source works normally, the base station synchronization is carried out according to the following method:
when a first base station receives a data packet sent by a fixed time service source, clock synchronization of the first base station and the fixed time service source is executed, and the current time service level of the first base station is 2; the first base station is any one of a plurality of base stations;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; and when the current time service level of the second base station is higher than the current time service level of the third base station, executing clock synchronization of the third base station and the second base station, and updating the current time service level of the third base station = the current time service level +1 of the second base station.
The invention determines the time service relationship between the base stations by distributing the original time service level and the current time service level for each base station and dynamically updating the current time service level. As shown in fig. 1, for the base station a1 which receives the signal of the fixed time service source a0, the current time service level is 2, the fixed time service source a0 is used as the time service base station of the base station a1, and the clock synchronization of the base station a1 and the fixed time service source a0 is executed; after that, when the bs A3 receives the data packet transmitted by the bs a1, and the current time service level of the bs a1 is higher than that of the bs, the bs A3 uses the bs a1 as a time service station to perform clock synchronization between the bs A3 and the bs a 1.
By parity of reasoning, the clock signal of the fixed time service source A0 is synchronized to each base station step by step, and finally, the plurality of base stations are synchronized with the fixed time service source A0. In addition, the current time service level is represented by a natural number such as a number 2, 3, 4, …, and the smaller the number, the higher the current time service level.
In the prior art, a circuit needs to be specially arranged for base station synchronization to realize absolute synchronization between the base station and standard time, and in this embodiment, time synchronization between the base stations is relative synchronization, so long as time beats between the base stations are consistent, absolute synchronization with the standard time does not need to be realized, and thus, an additional circuit does not need to be arranged.
Further, when the fixed time service source exits, the base station synchronization is carried out according to the following method:
selecting a base station with the highest original time service level from a plurality of base stations with the highest current time service level as a temporary time service source; the current time service level of the temporary time service source is 2; updating the current time service level to 3 for other base stations with the current time service level of 2;
when the first base station receives a data packet sent by the temporary time service source, clock synchronization of the first base station and the temporary time service source is executed, and the current time service level of the first base station is updated to 3;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; when the current time service level of the second base station is higher than the current time service level of the third base station, updating the current time service level of the third base station = the current time service level +1 of the second base station; clock synchronization of the third base station and the second base station is performed.
As shown in fig. 2, when the fixed time service source a0 exits, one of the base stations with the highest current time service level is the base station a1, and the base station a1 is used as a temporary time service source; the current time service level of the base station A1 is updated to be 2; other base stations originally on the same level as the base station A1, for example, the base station A2, have the current time service level updated to 3. The temporary time service source replaces the fixed time service source and serves as the only time service source in the base station positioning system, other base stations are gradually synchronous with the temporary time service source, and the synchronous process of other base stations and the temporary time service source is similar to that of the fixed time service source, and is not repeated here.
The temporary time service source replaces a fixed time service source and serves as the only time service source in the base station positioning system, and other base stations are gradually synchronous with the temporary time service source.
Further, when the fixed time service source is accessed again, the base station synchronization is carried out according to the following method:
after the fixed time service source is powered on, starting receiving;
if the fixed time service source does not receive any base station signal within the set time, starting transmission according to the clock of the fixed time service source, wherein the time service grade of the fixed time service source is 1;
when the first base station receives a data packet sent by a fixed time service source, executing clock synchronization of the first base station and the fixed time service source, and updating the current time service level of the first base station to be 2; the first base station is any one of a plurality of base stations;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; when the current time service level of the second base station is higher than the current time service level of the third base station, updating the current time service level of the third base station = the current time service level +1 of the second base station; clock synchronization of the third base station and the second base station is performed.
When each base station is electrified, the receiving is started firstly, if no base station signal is received within the set time, the sending is started according to the own clock, and the current time service level is the original time service level. The data packet transmitted by the base station comprises: the base station ID + the clock stamp + the current time service level + the current time slot value.
The above procedure is also followed when the fixed time service source is reconnected. The fixed time service source firstly executes data receiving, and the time service level of the fixed time service source is 1, so the time service level of the fixed time service source is not changed. If the fixed time service source does not receive any base station signal within the set time, the fixed time service source calculates the sending time according to the clock of the fixed time service source, starts data sending when the sending time arrives, and the fixed time service source enters a normal working state.
Then, for the first base station receiving the fixed time service source signal, the current time service level is 2, and the fixed time service source is used as the time service base station of the first base station; for a third base station which does not receive a fixed time service source signal, determining whether to use the second base station as a time service base station of the third base station according to the current time service level of the second base station, specifically: and if the current time service level of the second base station is higher than the current time service level of the third base station, the second base station is taken as a time service source of the third base station, and clock synchronization of the third base station and the second base station is executed. In addition, the current time service level is represented by a natural number such as a number 2, 3, 4, …, and the smaller the number, the higher the current time service level.
Further, the fixed time service source and the base station are both pre-assigned with transmission timeslot numbers, as shown in fig. 3, the method further includes:
s100: if the fixed time service source receives a base station signal within the set time, the base station is taken as a time service base station, and the fixed time service source and the clock of the base station are synchronized;
s200: obtaining a current time slot value by analyzing the data packet, and calculating the initial sending time according to the current time slot value and the sending time slot number of the fixed time service source;
when the initial transmission time arrives, the fixed time service source starts data transmission.
The calculation method of the initial sending time comprises the following steps: in the base station positioning system of this embodiment, the base station continuously operates, the tag periodically operates, the base station and the tag are both assigned with the transmission time slot numbers, and in the operating period of the tag, the base station and the tag cyclically transmit data according to the sequence of the transmission time slot numbers. As shown in fig. 1-2, there are 7 base stations such as fixed time service sources a0, a 1-a 6 in the base station positioning system, and it is assumed that, in the working timeslot of tag T0, the transmission timeslot numbers of each base station and tag T0 are 0(a0), 1(a1), 2(a2), 3(A3), 4(a4), 5(a5), 6(a6), and 7 (T0), and the time interval of each transmission timeslot is 1 ms. When the fixed time service source is just powered on, the data packet of the base station A1 is received, the current time slot value is 1 by analyzing the data packet sent by the base station A1, and the initial sending time is 7ms after the fixed time service source is obtained through calculation. And after the initial sending moment comes, the fixed time service source starts data sending, and the fixed time service source enters a normal working state.
When the fixed time service source is accessed again, if other base stations work normally at the moment, the fixed time service source receives a data packet sent by a certain base station within set time, the fixed time service source firstly takes the base station as the time service base station to realize clock synchronization with the time service base station, then the initial sending time is calculated, and when the initial sending time arrives, data sending is started to avoid that the normal work of the base station is influenced by the re-access of the fixed time service source.
Further, the executing clock synchronization between the first base station and the fixed time service source specifically includes:
in a ranging period of the first base station, performing ranging from the first base station to the fixed time service source twice to obtain two ranging results;
when the difference value of the two ranging results meets the set range, updating the first base station clock;
the process of updating the first base station clock specifically includes:
the first base station obtains a first sending moment of the fixed time service source by analyzing a data packet sent by the fixed time service source; the first sending time of the fixed time service source is the sending time determined according to the clock of the fixed time service source;
and obtaining a second sending moment of the fixed time service source according to the receiving timestamp of the first base station and the two ranging results:
the second sending time of the fixed time service source = receiving time stamp-average value of two ranging results/signal transmission rate;
the second sending time of the fixed time service source is the sending time determined according to the clock of the first base station;
and calculating the difference value between the first sending time of the fixed time service source and the second sending time of the fixed time service source, and updating the first base station clock according to the difference value.
Furthermore, when the difference value of the two ranging results exceeds the set range, the clock of the first base station is not updated, and the original clock of the first base station is still maintained.
In this embodiment, the process of step S100 and the synchronization process between any base station and its time service base station are the same, taking the synchronization process between the first base station and the fixed time service source as an example:
on one hand, the base station positioning system of this embodiment has a default distance of 50 meters, which is used for performing initial clock synchronization with the time service base station when each base station is powered on again. If the first base station receives the data packet sent by the fixed time service source when being powered on again, the fixed time service source is taken as the time service base station, and the initial clock synchronization of the first base station and the fixed time service source is carried out. The specific process is as follows: the first base station obtains the self sending time of the fixed time service source by analyzing a data packet sent by the fixed time service source, then obtains the flight time according to the default distance/light speed of 50 meters, calculates the difference value between the receiving time stamp and the flight time of the first base station to obtain the sending time determined by the first base station, and corrects the clock of the first base station according to the self sending time of the fixed time service source and the difference value before the sending time determined by the first base station to realize the initial clock synchronization of the first base station and the fixed time service source.
On the other hand, on the basis of the initial clock synchronization, when the first base station works normally, the clock synchronization between the first base station and the fixed time service source is maintained through ranging, and the method specifically comprises the following steps: and in a ranging period of the first base station, performing ranging from the first base station to the fixed time service source twice to obtain two ranging results, mutually verifying the two ranging results, and updating a clock of the first base station when the error of the two ranging results is within 0.3 m, indicating that the ranging is successful.
The specific process of updating the first base station clock is as follows: the first base station obtains a first sending moment of the fixed time service source by analyzing a data packet sent by the fixed time service source; obtaining a second sending moment of the fixed time service source by using a receiving timestamp of the first base station, an average value of two ranging results and a signal transmission rate (specifically, an optical speed); the first sending time of the fixed time service source is the sending time determined according to a clock system of the fixed time service source side, the second sending time of the fixed time service source is the sending time of the fixed time service source calculated according to the clock system of the first base station of the base station, the difference value between the first sending time of the fixed time service source and the second sending time of the fixed time service source is the difference value between the clock system of the first base station of the base station and the clock system of the fixed time service source, and the difference value is used for correcting the clock system of the first base station of the base station, so that the clock updating of the first base station is realized.
And then, assuming that the second base station receives the data packet sent by the first base station and the current time service level of the first base station is higher than that of the second base station, the second base station takes the first base station as the time service base station to execute clock synchronization of the second base station and the first base station.
By analogy, the clock signal of the fixed time service source is synchronized to each base station step by step, and finally, the synchronization of the plurality of base stations and the fixed time service source is realized.
In this embodiment, the default distance is set to 50 meters, because the actual distance between the base stations is about 50 meters, and the default distance should be a value close to the actual distance as much as possible. When the difference between the actual distance between the fixed time service source and the base station A0 and the default distance is within 300 meters, the error caused by the difference is within the allowable range of the system.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The base station synchronization method is applied to time synchronization among a plurality of base stations in a base station positioning system and is characterized in that the plurality of base stations share one fixed time service source, the time service grade of the fixed time service source is 1, each base station is provided with an original time service grade and a current time service grade, the original time service grade is unique, and the initial value of the original time service grade is equal to the initial value of the current time service grade; when the fixed time service source works normally, the base station synchronization is carried out according to the following method:
when a first base station receives a data packet sent by a fixed time service source, clock synchronization of the first base station and the fixed time service source is executed, and the current time service level of the first base station is 2; the first base station is any one of a plurality of base stations;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; and when the current time service level of the second base station is higher than the current time service level of the third base station, taking the second base station as the time service base station of the third base station, executing clock synchronization of the third base station and the second base station, and updating the current time service level of the third base station = the current time service level +1 of the second base station.
2. The base station synchronization method of claim 1, wherein when the fixed time service source exits, the base station synchronization is performed according to the following method:
selecting a base station with the highest original time service level from a plurality of base stations with the highest current time service level as a temporary time service source; the current time service level of the temporary time service source is 2; updating the current time service level to 3 for other base stations with the current time service level of 2;
when the first base station receives a data packet sent by a temporary time service source, executing clock synchronization of the first base station and the temporary time service source, and updating the current time service level of the first base station to 3;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; and when the current time service level of the second base station is higher than the current time service level of the third base station, taking the second base station as the time service base station of the third base station, executing clock synchronization of the third base station and the second base station, and updating the current time service level of the third base station = the current time service level +1 of the second base station.
3. The base station synchronization method according to claim 1, wherein the fixed time service source and the base station are both pre-assigned with transmission timeslot numbers, and when the fixed time service source is powered on again, the base station synchronization is performed according to the following method:
starting and receiving by a fixed time service source;
if the fixed time service source receives a base station signal within the set time, the base station is taken as a time service base station, and the fixed time service source and the clock of the base station are synchronized;
obtaining a current time slot value by analyzing the data packet, and calculating the initial sending time according to the current time slot value and the sending time slot number of the fixed time service source;
when the initial transmission time arrives, the fixed time service source starts data transmission.
4. The base station synchronization method of claim 3, further comprising:
if the fixed time service source does not receive any base station signal within the set time, calculating the sending time according to the clock of the fixed time service source, starting sending when the sending time arrives, and setting the time service grade of the fixed time service source to be 1;
when the first base station receives a data packet sent by a fixed time service source, executing clock synchronization of the first base station and the fixed time service source, and updating the current time service level of the first base station to be 2; the first base station is any one of a plurality of base stations;
when the third base station receives a data packet sent by the second base station, the current time service level of the second base station is obtained by analyzing the data packet; the third base station and the second base station are any two base stations in a plurality of base stations; and when the current time service level of the second base station is higher than the current time service level of the third base station, taking the second base station as the time service base station of the third base station, executing clock synchronization of the third base station and the second base station, and updating the current time service level of the third base station = the current time service level +1 of the second base station.
5. The method according to claim 1, wherein the performing clock synchronization between the first base station and the fixed time service source specifically comprises:
in a ranging period of the first base station, performing ranging from the first base station to the fixed time service source twice to obtain two ranging results;
when the difference value of the two ranging results meets the set range, updating the clock of the first base station;
the process of updating the first base station clock specifically includes:
the first base station obtains a first sending moment of the fixed time service source by analyzing a data packet sent by the fixed time service source; the first sending time of the fixed time service source is the sending time determined according to the clock of the fixed time service source;
and obtaining a second sending moment of the fixed time service source according to the receiving timestamp of the first base station and the two ranging results:
the second sending time of the fixed time service source = receiving time stamp-average value of two ranging results/signal transmission rate;
the second sending time of the fixed time service source is the sending time determined according to the clock of the first base station;
and calculating the difference value between the first sending time of the fixed time service source and the second sending time of the fixed time service source, and updating the first base station clock according to the difference value.
6. The system of claim 5, wherein when the difference between the two ranging results exceeds the predetermined range, the original clock of the first base station is maintained without performing clock synchronization between the first base station and the fixed time service source.
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| CN202210137225.6A CN114466445A (en) | 2022-02-15 | 2022-02-15 | Base station synchronization method |
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| CN111491266A (en) * | 2020-05-16 | 2020-08-04 | 深圳市引力波联科技有限公司 | Time synchronization method for UWB TDOA positioning system base station |
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| CN101184277A (en) * | 2007-12-07 | 2008-05-21 | 中兴通讯股份有限公司 | Inter-base station synchronization method in time division multiple access system |
| CN203224727U (en) * | 2013-04-23 | 2013-10-02 | 欧阳明星 | Dual-clock source time service system based on radio communication network and GPS |
| CN110730498A (en) * | 2019-10-23 | 2020-01-24 | 深圳市慧宇系统有限公司 | Navigation positioning time service synchronization system and synchronization method thereof |
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