WO2017049940A1 - 室内空间测量定位网络动态坐标测量多站数据同步方法 - Google Patents

室内空间测量定位网络动态坐标测量多站数据同步方法 Download PDF

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WO2017049940A1
WO2017049940A1 PCT/CN2016/083478 CN2016083478W WO2017049940A1 WO 2017049940 A1 WO2017049940 A1 WO 2017049940A1 CN 2016083478 W CN2016083478 W CN 2016083478W WO 2017049940 A1 WO2017049940 A1 WO 2017049940A1
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measurement
time
station
data
data synchronization
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French (fr)
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邾继贵
杨凌辉
任永杰
林嘉睿
赵子越
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Tianjin University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/14—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G01B5/16—Measuring arrangements characterised by the use of mechanical techniques for measuring distance or clearance between spaced objects or spaced apertures between a succession of regularly spaced objects or regularly spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/02—Means for marking measuring points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G01S1/703—Details
    • G01S1/7032—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Definitions

  • the invention relates to the field of large-scale three-dimensional coordinate dynamic measurement in an industrial field, in particular to a data synchronization method in a real-time dynamic tracking measurement process of a large-scale device by using an indoor space measurement and positioning system.
  • the indoor space measurement positioning system (wMPS: workshop measurement positioning system) is a new multi-station network indoor space measurement and positioning system that can realize high-precision automatic parallel multi-task measurement under the global coordinate system of large-scale space, and in aerospace, There is a large demand in large-scale manufacturing fields such as aviation and shipbuilding.
  • the measurement and positioning system described in the prior art indoor space measurement and positioning system ie, the construction of the measurement network of the scanning plane laser space positioning system
  • FIG. 1 and FIG. 2 mainly by the transmitting station, the receiver, and the signal processing. And the solver workstation.
  • the transmitting station emits two laser planes that rotate at a constant speed around the rotating shaft and have a certain inclination, and each time the transmitting station rotates to a fixed position, the transmitting station emits a synchronous light pulse as a synchronization mark, and realizes scanning in the measured space as a measuring space.
  • the receiver provides a positioning service signal; the receiver receives the transmitting station optical signal and converts it into an electrical signal and sends it to the signal processor, and the signal processor uses the internal crystal oscillator as a clock timing reference to time-measure the optical signal emitted by the transmitting station, and The angle information of each signal processor itself in each transmitting station coordinate system is obtained therefrom; after the angle information is uploaded to the solving workstation, the three-dimensional coordinates of the receiver can be calculated through the angle intersection relationship between the plurality of transmitting stations.
  • the transmitting station sends the scanning signal in one direction, and the signal processor completes the timing angle measurement based on the local crystal oscillator.
  • the broadcast mode does not exist in the closed loop between the transmission and the reception, and the high-precision multi-point parallel high precision can be realized.
  • Three-dimensional coordinate measurement can also achieve the purpose of expanding the range by increasing the number of transmitting stations.
  • wMPS systems have been successfully applied in aerospace manufacturing sites and other processing and assembly processes that require multi-process parallel and overall precision control.
  • the wMPS system includes multiple transmitting stations, and the identification and identification of different transmitting stations are based on different rotational speed parameters, thereby causing the different transmitting station information received by the receiver to be asynchronous.
  • data synchronization between multiple transmitters does not affect measurement results and accuracy.
  • the data between the multiple transmitting stations is not synchronized, which causes the timing reference of the angle measurement between different transmitting stations to be different, thus introducing measurement errors.
  • the receiver receives the signal of the transmitting station 1 to calculate the angle information in the coordinate system of the transmitting station 1 at the current time; and at time t 02 , the receiver receives the signal of the transmitting station 2, and obtains the current time. Angle information in the coordinate system of the transmitting station 2. Due to the movement of the receiver, the position at different times varies according to the motion conditions. The existing calculation model will inevitably introduce an error, that is, the optical signals of multiple transmitting stations arrive at a single receiver surface at different positions during the motion of the object. Intersection error.
  • the invention provides a multi-station data synchronization method for dynamic coordinate measurement of indoor space measurement and positioning network.
  • the invention fully utilizes the clock information existing in the signal processor to synchronously align the information of multiple transmitting stations of the same processor to the same moment. To improve the accuracy of on-site dynamic coordinate measurement, as described below:
  • An indoor coordinate measurement positioning network dynamic coordinate measurement multi-station data synchronization method comprising the following steps:
  • the measurement positioning space is determined according to the on-site measurement size, a plurality of transmitting stations are placed at the selected position, and the external calibration of the transmitting station is performed using the reference rule to establish a measurement field;
  • a fixed time node is set on the time axis, and data of different transmitting stations is synchronized to the corresponding time node, thereby completing data synchronization.
  • the step of adding local clock information to the angle information of each transmitting station in the signal processor communication data packet is specifically:
  • the receiver receives the synchronous light pulse and the scanning light pulse signal emitted by the transmitting station, and converts the synchronous light pulse and the scanning optical pulse signal into electrical pulses and sends them to the signal processor;
  • the signal processor uses the internal crystal oscillator as a timing reference to match the electric pulses of different transmitting stations according to the rotation period of the transmitting station;
  • the signal processor packages the different transmitter station angle information and the corresponding time stamp received by the same receiver to form a data frame, and uploads it to the computing workstation.
  • the step of setting a fixed time node on the time axis and synchronizing data of different transmitting stations to the corresponding time node, thereby completing the data synchronization step is specifically:
  • the technical solution provided by the present invention has the beneficial effects that the present invention uses the existing wMPS system signal processor clock as the time
  • the measurement error caused by the asynchronous synchronization of the data measurement time between the multiple transmitting stations can be effectively reduced, and the present invention enhances the traditional static measurement function of the wMPS to Certain dynamic measurement functions, expand the application range of wMPS, and provide technical support for real-time high-precision large-scale coordinate measurement based on wMPS.
  • Figure 1 is a schematic diagram of the composition of the wMPS system
  • FIG. 2 is a schematic diagram of the working principle of the wMPS system
  • 3 is a schematic diagram of coordinate measurement errors introduced by data of multiple transmitting stations not synchronized
  • FIG. 4 is a schematic diagram of a time sequence of a dual station system
  • FIG. 5 is a flow chart of a method for dynamic coordinate measurement multi-station data synchronization in an indoor space measurement positioning network.
  • the above error is determined by the system measurement principle, and ideally, it can be guaranteed within the measurable slowest speed transmitting station period (for example, if the speed is the slowest at 1800 rpm between multiple transmitting stations)
  • the time error can be guaranteed within 33.33ms), which can be compensated by data synchronization of different transmitting stations.
  • the signal processor internally uses a single crystal oscillator to time-tune the light pulse received by the receiver
  • the focus of the present invention is how to synchronize and compensate the data of the multi-transmitter station through the timing result, thereby maximizing the measurement accuracy of the dynamic coordinate measurement. .
  • the technical solution for multi-transmitter data synchronization in the dynamic coordinate measurement using the workspace measurement and positioning system in the embodiment of the present invention is as follows:
  • This step specifically includes:
  • the receiver receives the synchronous light pulse and the scanning light pulse signal transmitted by the transmitting station, and converts the two signals into electrical pulses and sends them to the signal processor;
  • the signal processor uses the internal crystal oscillator as a timing reference to match the electric pulses of different transmitting stations according to the rotation period of the transmitting station;
  • the receiver receives the transmitting station synchronization optical pulse signal, and continuously receives two scanning optical pulse signals of the transmitting station at the following time t 1 and time t 2 , and then transmits the transmitting station in the rotation period T
  • the angle of rotation when sweeping through the receiver is:
  • the synchronous optical pulse signal time t 0 marks the time starting point of the transmission station's current periodic signal transmission
  • the synchronous optical pulse signal time t 0 recorded by the signal processor is used as the time stamp of the transmitting station rotation angles ⁇ 1 , ⁇ 2 .
  • the signal processor packages the different transmitter station angle information and the corresponding time stamp received by the same receiver to form a data frame, and uploads it to the computing workstation.
  • the angle information of different transmitting stations has a time stamp, which can be synchronized to a time axis according to the time stamp. Based on the above point of view, a fixed time node is set on the time axis, and data of different transmitting stations is synchronized to the corresponding time node, thereby completing data synchronization.
  • t p1 , t p2 , t p3 ... t pn denotes the set time node
  • t j1 , t j2 , t j3 ... t jn denotes the corresponding transmitter signal received Time
  • j represents the transmitting station number.
  • Data synchronization between different transmitting stations needs to be based on the following premise:
  • the data output of the signal processor in the measurement field is continuous in time, and the data of the transmitting station at any time in a short time can be derived from the data of the transmitting station of two adjacent measurements.
  • the data of each transmitting station is synchronized to the corresponding node of the time series.
  • the specific process of the data synchronization method is:
  • i denotes the scan cursor number
  • t' in denotes the scan angle value of the scanning light i at the time node t pn
  • t in denotes the scan angle value of the scanning light i at the time instant t 0n
  • t in-1 Indicates the scan angle value of the scanning light i at the time instant t in-1 .
  • the data of multiple transmitting stations on the corresponding time node is obtained, and the coordinate value of the time can be obtained by using the angle intersection principle, thereby completing the data synchronization of the multiple transmitting stations.
  • the embodiment of the present invention fully utilizes the existing clock information in the signal processor to synchronously align the plurality of transmitting station information of the same processor to the same time, thereby improving the accuracy of the on-site dynamic coordinate measurement.
  • the embodiment of the invention enhances the traditional static measurement function of the wMPS to a certain dynamic measurement function, expands the application range of the wMPS, and provides technical support for real-time high-precision large-scale coordinate measurement based on wMPS.
  • the model of each device is not limited unless otherwise specified, as long as the device capable of performing the above functions can be used.

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
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Abstract

一种室内空间测量定位网络动态坐标测量多站数据同步方法，包括以下步骤：根据现场测量尺寸确定测量定位空间，选取位置放置若干发射站，使用基准尺对发射站进行外部参数标定，建立测量场；在信号处理器通讯数据包中为每个发射站的角度信息附加本地时钟信息；在时间轴上设置固定的时间节点，将不同发射站的数据同步到相应的时间节点上，从而完成数据同步。该方法将wMPS传统的静态测量功能提升至有一定动态测量功能，拓展wMPS的应用范围，为实现基于wMPS的工业现场实时高精度大尺寸坐标测量提供技术支持。

Description

室内空间测量定位网络动态坐标测量多站数据同步方法 技术领域
本发明涉及工业现场大尺寸三维坐标动态测量领域，尤其涉及一种利用室内空间测量定位系统进行的大型设备实时动态跟踪测量过程中的数据同步方法。
背景技术
室内空间测量定位系统(wMPS：workshop Measurement Positioning System)是一种新型多站位网络式室内空间测量定位系统，可实现大尺度空间整体坐标系下的高精度自动并行多任务测量，并在航天、航空、造船等大型制造领域中有广大需求。现有技术中的室内空间测量定位系统(即《扫描平面激光空间定位系统测量网络的构建》所描述的测量定位系统)如图1和图2所示，主要由发射站、接收器、信号处理器和解算工作站组成。发射站发射两束绕着转轴匀速旋转并带有一定倾斜的激光平面，同时每当发射站旋转到固定位置处发射站发射同步光脉冲作为同步标记，在被测空间内实现扫描，为测量空间内的接收器提供定位服务信号；接收器接收发射站光信号并转换为电信号发送给信号处理器，信号处理器以内部晶振为时钟计时时间基准对发射站发出的光信号进行计时测量，并从中得到每个信号处理器自身在每个发射站坐标系下的角度信息；角度信息在上传给解算工作站后，通过多个发射站之间的角度交汇关系可计算出接收器的三维坐标。
在上述工作模式中，发射站单向发送扫描信号，信号处理器以本地晶振为计时基础完成计时测角，发送与接收之间采用广播模式不存在闭环，可实现全自动多点并行的高精度三维坐标测量，同时可通过增加发射站数目达到扩展量程的目的。目前，wMPS系统在航空航天制造现场等需要多工序并行和整体精度控制的加工装配过程中已经获得大量成功应用。
wMPS系统中包含多个发射站，不同发射站的标识与识别基于不同转速参数，由此导致接收器接收到的不同发射站信息非同步。在wMPS系统在静态或者准静态的应用中，多发射站间的数据不同步并不会对测量结果和精度造成影响。但是动态测量时，由于接收器的运动，多发射站间的数据不同步就会造成不同发射站间角度测量的计时基准不同，从而引入了测量误差。以双站组成的测量系统为例，示意图如图3所示。在t01时刻，接收器接收到了发射站1的信号，从而算出在当前时刻在发射站1坐标系下的角度信息；而到了t02时刻，接收器接收到了发射站2的信号，得到当前时刻在发射站2坐标系下的角度信息。 由于接收器的运动，不同时刻下的位置根据运动条件有所差异，现有的计算模型下必然会引入误差，即物体运动过程中多发射站光信号在不同位置先后到达单个接收器表面会引起交会误差。
发明内容
本发明提供了一种室内空间测量定位网络动态坐标测量多站数据同步方法，本发明充分利用信号处理器内部已有的时钟信息，将同一处理器的多个发射站信息同步对准到同一时刻，提高现场动态坐标测量精度，详见下文描述：
一种室内空间测量定位网络动态坐标测量多站数据同步方法，所述方法包括以下步骤：
根据现场测量尺寸确定测量定位空间，选取位置放置若干发射站，使用基准尺对发射站进行外部参数标定，建立测量场；
在信号处理器通讯数据包中为每个发射站的角度信息附加本地时钟信息；
在时间轴上设置固定的时间节点，将不同发射站的数据同步到相应的时间节点上，从而完成数据同步。
所述在信号处理器通讯数据包中为每个发射站的角度信息附加本地时钟信息的步骤具体为：
1)接收器接收到发射站发射的同步光脉冲及扫描光脉冲信号，并将同步光脉冲及扫描光脉冲信号转换为电脉冲送至信号处理器；
2)信号处理器以内部晶振为计时基准对不同发射站的电脉冲按照发射站旋转周期进行匹配计时；
3)信号处理器将同一接收器接收到的不同发射站角度信息及相应时间戳打包形成数据帧，并上传到计算工作站。
所述在时间轴上设置固定的时间节点，将不同发射站的数据同步到相应的时间节点上，从而完成数据同步的步骤具体为：
1)在接收器中选择计算最晚时刻的时间戳t0n，并将最晚时刻的相邻前一时刻的时间戳t0n-1取出，最晚时刻的时间戳对应的节点时间为tpn；
2)将发射站在时间戳t0n时刻的数据同步到节点时间tpn上；
3)将所有发射站的数据同步到相应时间节点上；利用角度交会原理即可得到该时刻的坐标值，从而完成了多发射站的数据同步。
本发明提供的技术方案的有益效果是：本发明以现有wMPS系统信号处理器时钟为时 标，将同一接收器的多发射站数据同步到同一时刻，可有效降低同一接收器由于多发射站间数据测量时刻不同步而造成的测量误差，本发明将wMPS传统的静态测量功能提升至有一定动态测量功能，拓展wMPS的应用范围，为实现基于wMPS的工业现场实时高精度大尺寸坐标测量提供技术支持。
附图说明
图1为wMPS系统组成示意图；
图2为wMPS系统工作原理的示意图；
图3为多发射站数据不同步引入的坐标测量误差的示意图；
图4为双站系统时间序列示意图；
图5为室内空间测量定位网络动态坐标测量多站数据同步方法的流程图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面对本发明实施方式作进一步地详细描述。
通过对背景技术的分析可知，上述误差由系统测量原理决定，理想状态下可保证在可测得的最慢转速发射站周期之内(例如，多个发射站间如果转速最慢为1800rpm则同步时间误差可保证在33.33ms之内)，可以通过对不同发射站进行数据同步进行补偿。考虑到信号处理器内部采用单晶振对接收器接收到的光脉冲进行计时标记，因此本发明的重点关注如何通过计时结果对多发射站数据进行同步和补偿，从而最大限度提高动态坐标测量测量精度。
为了达到上述目的，参见图5，本发明实施例利用工作空间测量定位系统进行动态坐标测量时的多发射站数据同步技术方案如下：
101：根据现场测量尺寸确定测量定位空间，并选取合适位置(地基稳定，空间无遮挡)放置若干发射站，使用基准尺对发射站进行外部参数标定，建立测量场；
102：在信号处理器通讯数据包中为每个发射站的角度信息附加本地时钟信息(即为测量数据加盖时间戳)；
该步骤具体包括：
1)接收器接收到发射站发射的同步光脉冲及扫描光脉冲信号，并将这两种信号转换为电脉冲送至信号处理器；
2)信号处理器以内部晶振为计时基准对不同发射站的电脉冲按照发射站旋转周期进行匹配计时；
例如：t0时刻接收器接收到发射站同步光脉冲信号，并在接下来的t1时刻和t2时刻连续接收到发射站的两束扫描光脉冲信号，则在该旋转周期T内发射站扫过接收器时的旋转角度分别为：
Figure PCTCN2016083478-appb-000001
Figure PCTCN2016083478-appb-000002
由于同步光脉冲信号时刻t0标志了发射站本次周期信号传输的时间起点，因此将信号处理器记录的同步光脉冲信号时刻t0作为发射站旋转角度θ1，θ2的时间戳。
3)信号处理器将同一接收器接收到的不同发射站角度信息及相应时间戳打包形成数据帧，并上传到计算工作站。
103：在时间轴上设置固定的时间节点，将不同发射站的数据同步到相应的时间节点上，从而完成数据同步。
实际应用时，由于同一接收器收到的多个发射站之间的数据不同步，若直接进行解算会引入同步误差。不同发射站的角度信息具有时间戳，可根据时间戳将数据同步到一个时间轴上。基于以上观点，在时间轴上设置固定的时间节点，将不同发射站的数据同步到相应的时间节点上，从而完成数据同步。
以双发射站系统为例，时间序列示意图如图4所示。图中，tp1,tp2,tp3......tpn表示设置的时间节点，tj1,tj2,tj3......tjn表示对应的发射站信号接收到的时间，j表示发射站编号。不同发射站之间的数据同步需要基于以下前提：
1)在接收器的运动过程中，由于本身的运动条件限制，在极短时间内(约几十毫秒)的运动可以近似认为是向某一方向以速度v匀速前进的。
2)在测量场中信号处理器的数据输出在时间上连续，根据两次相邻测量的发射站数据即可推算出短时间内任意时刻的发射站数据。
时间序列设置完成后，将各个发射站的数据同步到时间序列的相应节点上。以其中一个发射站为例，数据同步方法的具体过程为：
1)在接收器中选择计算最晚时刻的时间戳t0n，并将最晚时刻的相邻前一时刻的时间戳t0n-1取出，最晚时刻的时间戳对应的节点时间为tpn；
2)将发射站在时间戳t0n时刻的数据同步到节点时间tpn上，采用以下公式进行计算：
Figure PCTCN2016083478-appb-000003
式中，i表示扫描光标号；t′in表示在时间节点tpn时刻下扫描光i的扫描角度值，tin表示在时间戳t0n时刻下扫描光i的扫描角度值，tin-1表示在时间戳tin-1时刻下扫描光i的扫描角度值。
3)按照2)中的方法，将所有发射站的数据同步到相应时间节点上。
因此得到了相应时间节点上的多个发射站的数据，利用角度交会原理即可得到该时刻的坐标值，从而完成了多发射站的数据同步。
综上所述，本发明实施例充分利用信号处理器内部已有的时钟信息，将同一处理器的多个发射站信息同步对准到同一时刻，提高了现场动态坐标测量精度。本发明实施例将wMPS传统的静态测量功能提升至有一定动态测量功能，拓展wMPS的应用范围，为实现基于wMPS的工业现场实时高精度大尺寸坐标测量提供技术支持。
本发明实施例对各器件的型号除做特殊说明的以外，其他器件的型号不做限制，只要能完成上述功能的器件均可。
本领域技术人员可以理解附图只是一个优选实施例的示意图，上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (3)

  1. 一种室内空间测量定位网络动态坐标测量多站数据同步方法，其特征在于，所述方法包括以下步骤：
    根据现场测量尺寸确定测量定位空间，选取位置放置若干发射站，使用基准尺对发射站进行外部参数标定，建立测量场；
    在信号处理器通讯数据包中为每个发射站的角度信息附加本地时钟信息；
    在时间轴上设置固定的时间节点，将不同发射站的数据同步到相应的时间节点上，从而完成数据同步。
  2. 根据权利要求1所述的室内空间测量定位网络动态坐标测量多站数据同步方法，其特征在于，所述在信号处理器通讯数据包中为每个发射站的角度信息附加本地时钟信息的步骤具体为：
    1)接收器接收到发射站发射的同步光脉冲及扫描光脉冲信号，并将同步光脉冲及扫描光脉冲信号转换为电脉冲送至信号处理器；
    2)信号处理器以内部晶振为计时基准对不同发射站的电脉冲按照发射站旋转周期进行匹配计时；
    3)信号处理器将同一接收器接收到的不同发射站角度信息及相应时间戳打包形成数据帧，并上传到计算工作站。
  3. 根据权利要求1所述的室内空间测量定位网络动态坐标测量多站数据同步方法，其特征在于，所述在时间轴上设置固定的时间节点，将不同发射站的数据同步到相应的时间节点上，从而完成数据同步的步骤具体为：
    1)在接收器中选择计算最晚时刻的时间戳t0n，并将最晚时刻的相邻前一时刻的时间戳t0n-1取出，最晚时刻的时间戳对应的节点时间为tpn；
    2)将发射站在时间戳t0n时刻的数据同步到节点时间tpn上；
    3)将所有发射站的数据同步到相应时间节点上；利用角度交会原理即可得到该时刻的坐标值，从而完成了多发射站的数据同步。
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