WO2017107261A1 - 基于ptp协议的多跳无线回程网络时间同步误差补偿方法 - Google Patents

基于ptp协议的多跳无线回程网络时间同步误差补偿方法 Download PDF

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WO2017107261A1
WO2017107261A1 PCT/CN2016/070840 CN2016070840W WO2017107261A1 WO 2017107261 A1 WO2017107261 A1 WO 2017107261A1 CN 2016070840 W CN2016070840 W CN 2016070840W WO 2017107261 A1 WO2017107261 A1 WO 2017107261A1
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delay
time
message
synchronization
req
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French (fr)
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曾鹏
王照伟
李志博
李栋
王金涛
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中国科学院沈阳自动化研究所
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H04J3/0658—Clock or time synchronisation among packet nodes
    • H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
    • H04J3/0667—Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H04J3/0658—Clock or time synchronisation among packet nodes
    • H04J3/0673—Clock or time synchronisation among packet nodes using intermediate nodes, e.g. modification of a received timestamp before further transmission to the next packet node, e.g. including internal delay time or residence time into the packet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/14—Session management
    • H04L67/147—Signalling methods or messages providing extensions to protocols defined by standardisation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/2866—Architectures; Arrangements
    • H04L67/2885—Hierarchically arranged intermediate devices, e.g. for hierarchical caching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H04L7/0008—Synchronisation information channels, e.g. clock distribution lines
    • H04L7/0012—Synchronisation information channels, e.g. clock distribution lines by comparing receiver clock with transmitter clock
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W92/00—Interfaces specially adapted for wireless communication networks
    • H04W92/16—Interfaces between hierarchically similar devices
    • H04W92/24—Interfaces between hierarchically similar devices between backbone network devices

Definitions

  • the invention relates to the field of wireless network communication, in particular to a time synchronization error compensation method for a multi-hop wireless backhaul network based on a PTP protocol.
  • Multi-hop Wireless Backhaul Networks are designed to provide high-speed, long-distance, non-line-of-sight and low-cost wireless access services, making up for wired backhaul networks with difficult wiring, high cost, and network coverage.
  • Limitations such as limitations and poor topology flexibility. Due to the harsh environment of the factory, difficult wiring, and in order to improve the production efficiency of the factory, new industrial applications such as digital oil field, smart grid wide-area interconnection, and industrial robot cooperative operation urgently need to build a wireless backhaul network with integrated management and control, complete regional coverage, and achieve measurement and Control and mixed transmission of information such as audio and video.
  • MWBNs have significant advantages.
  • the control information of the equipment often has strict requirements on the QoS of the MWBNs.
  • the reliability of the control signal is required to be 100%, and the delay and jitter requirements are in the ms level, that is, the MWBNs need to meet the requirements of high real-time and high reliability of control information transmission.
  • time synchronization technology is crucial in solving information fusion and collaborative processing, ensuring the real-time and reliability of information transmission.
  • the local time of the node is completed by counting the output pulses of the internal crystal oscillator, and the time information needs to be exchanged between the nodes to achieve synchronization. Therefore, due to the difference of internal crystal oscillators and the interference of network communication links in the factory environment, it is difficult to achieve accurate synchronization between nodes.
  • the IEEE 1588 v2 (Precision Time Protocol, PTP) protocol solves the problem of industrial wired Ethernet time synchronization based on the existing network communication protocol.
  • the current synchronization accuracy can reach 50 ns.
  • the key to achieving high-precision time synchronization in the PTP protocol is based on hardware timestamps and symmetric links.
  • the so-called hardware timestamp that is, the time stamp of sending and receiving network packets at the near physical layer.
  • the PTP protocol establishes the concept of transparent transmission clock, which effectively guarantees the symmetry of the uplink and downlink communication links, thereby improving the accuracy of time synchronization.
  • the current Wi-Fi chip is mostly a single-chip structure, that is, the selection of the Wi-Fi node timestamp can only be implemented above the MAC layer, and the forwarding delay error of the MAC layer queuing, PHY layer transmission, and the timestamp selection mechanism are serious. Affect the asymmetry of the link.
  • the existing methods mostly use the statistical principle to perform link delay compensation, which increases the number of messages in the network, and has poor real-time performance.
  • the experiment found that the synchronization accuracy of applying the PTP protocol directly to the wireless network can reach the ms level.
  • Wi-Fi-based MAC layer based on FPGA the development cost of the Wi-Fi-based MAC layer based on FPGA is too large, so it is not advisable to design a wireless network node based on the PTP protocol.
  • the technical problem to be solved by the present invention is to provide a time synchronization error compensation method for a multi-hop wireless backhaul network based on the PTP protocol, which is implemented on the basis of the current PTP Ethernet device.
  • the delay compensation of the wireless communication link of the PTP device thereby achieving high-precision time synchronization.
  • a time synchronization error compensation method for a multi-hop wireless backhaul network based on the PTP protocol comprising the following steps:
  • the nodes of the industrial site are built into a hierarchical multi-hop network structure
  • the root node is used as the master node, the leaf node is used as the slave node, and the master and slave nodes use the PTP protocol for time synchronization, and the synchronization mode is two-step;
  • the intermediate node i used for data forwarding between the master node and the slave node records time information about the PTP message when forwarding the message, and calculates additional time information based on the linear regression technique;
  • the intermediate node i is transmitting the follow message Follow_Up, the delay request response message Delay_Resp, and the synchronization report.
  • the Sync uses the modified header to bring extra time information;
  • the synchronization error compensation is completed according to the PTP protocol.
  • the two-step synchronization mode means that the time information of the synchronization message Sync is transmitted by using the follow message Follow_Up, and the time information of the delay request message Delay_Req is transmitted by using the delay request response message Delay_Resp.
  • the time information about the PTP message includes: the arrival time of the synchronization message Sync and the delay request message Delay_Req at the intermediate node i, Ts_arrived i and Td_arrived i , the departure time Ts_left i and Td_left i, and the message ID; Obtaining the time Ts_left i-1 of the synchronization message Sync leaving the node i-1 in the following message Follow_Up of the message Sync ID; obtaining the delay request response message Delay_Resp in accordance with the ID of the delay request message Delay_Req The delay request message Delay_Req arrives at the time of the node i-1 Td_arrived i-1 ; the node i-1 time correction value ⁇ i-1 obtained from the synchronization message Sync.
  • the additional time information includes: a local time correction value ⁇ i , a local forwarding time, and a link delay of the synchronization message Sync and the delay request message Delay_Req transmitted between the nodes i and i-1.
  • the calculating the additional time information based on the linear regression technique is specifically:
  • the intermediate node i stores the latest N sets of time information (Ts_arrived i , Ts_arrived i - Ts_left i-1 ), where (Ts_arrived i, k , Ts_arrived i, k -Ts_left i-1, k ) is the kth group of information. Based on the linear regression of the least squares method, the intermediate node i obtains the slope of the time offset between the nodes i and i-1 with respect to the arrival time Ts_arrived i :
  • the time offset between nodes i and i-1 is:
  • the local forwarding time of the synchronization message Sync and the delay request message Delay_Req is:
  • T_dwell i (T_left i -T_arrived i ) ⁇ i (6)
  • T_arrived i is Td_arrived i and T_left i is Td_left i ; for synchronous message Sync, T_arrived i is Ts_arrived i and T_left i is Ts_left i .
  • the link delay of the synchronization message Sync transmitted between nodes i and i-1 is:
  • linkDelay i-1,i (Ts_arrived i -Ts_left i-1 -offset i-1,i ) ⁇ i (7)
  • the link delay of the delay request message Delay_Req transmitted between nodes i and i-1 is:
  • linkDelay i,i-1 (Td_arrived i-1 -Td_left i +offset i-1,i ) ⁇ i (8)
  • the modified header format is: a PTP universal header format for transmitting the added time information by using a header 4-byte reserved field.
  • the additional time information of the piggyback is specifically:
  • the intermediate message Sync and the delay request message Delay_Req forwarding time and the link delay are respectively added to the respective header corrections.
  • the domain correctionField the synchronization message Sync leaving time Ts_left i and the delay request message Delay_Req arrival time Td_arrived i which are consistent with the two IDs are respectively written into the reserved field of the respective header 4 bytes;
  • the intermediate node i When sending the synchronization message Sync, the intermediate node i writes the local time correction value to the reserved field of the header 4 bytes.
  • the header correction field is: in the two-step synchronization, the domain value of the synchronization message Sync and the delay request message Delay_Req is 0, and the field values of the following message Follow_Up and the delayed request response message Delay_Resp are respectively Same
  • the synchronization error compensation is completed according to the PTP protocol, specifically:
  • the slave node calculates the link average delay meanPathDelay according to the sending and receiving time of the synchronization message Sync and the delay request message Delay_Req, and the correction field value of the following message follow_Resp and the delay request response message Delay_Resp. And time offset shift:
  • meanPathDelay [(t2-t3)+(t4-t1)-correctionField of Follow_Up-correctionField of Delay_Resp]/2 (9)
  • t1 is the time for transmitting the synchronization message Sync for the main clock
  • t2 is the time for receiving the synchronization message Sync from the clock record
  • t3 is the time for sending the delay request message Delay_Req from the clock record
  • t4 is the main clock record. The time to delay request message Delay_Req.
  • the PTP protocol-based multi-hop wireless backhaul network time synchronization error compensation method proposed by the present invention fully considers the limitations of the existing equipment and the asymmetry of the wireless link, and reduces the report on the basis of not affecting the existing PTP protocol.
  • the invention is based on the existing PTP protocol and equipment, and reduces development costs
  • the invention uses the PTP packet header to correct the domain correctionField and the reserved domain reserved to transmit additional time information, thereby reducing the message overhead;
  • the invention utilizes the intermediate node to realize the forwarding time of the PTP message and the compensation of the link delay, which satisfies the real-time of the link delay correction and the high precision requirement of the synchronization error compensation, and improves the existing time synchronization precision. Practical.
  • FIG. 1 is a schematic diagram of an industrial wireless network of the present invention
  • Figure 2 shows the two-step synchronization principle under the PTP protocol
  • 3 is a schematic diagram of delay compensation of an intermediate node completing a link under the PTP protocol
  • FIG. 4 is a modified PTP packet header used by the present invention.
  • the method of the invention comprises the steps of: constructing a node in the field into a hierarchical multi-hop network structure; adopting a two-step synchronization mode under the PTP protocol; and using the intermediate node to complete the forwarding of the PTP synchronization message Sync and the delay request message Delay_Req Time and link delay detection and compensation to achieve time synchronization error compensation.
  • the hierarchical multi-hop wireless network structure constructed by the present invention.
  • the root node in the network is used as the time source, that is, the master node; the leaf node acts as the slave node, and communicates with the master node through multi-hop mode, and acts as an access node responsible for information fusion of the access network.
  • the intermediate node acts as a forwarding node to forward the uplink and downlink data packets, and completes the packet forwarding delay and link delay compensation.
  • the master clock periodically transmits the synchronization message Sync including the transmission time t1; the time t2 of receiving the synchronization message Sync from the clock record, and then sending the delay request message Delay_Req, and recording the transmission time t3; the master clock recording reception delay
  • the time t4 of the message Delay_Req is requested, and the delay request response message Delay_Resp including t4 is sent to the slave clock.
  • the slave clock calculates the link average delay meanPathDelay and time offset from the master clock based on the obtained four time values t1, t2, t3, and t4:
  • meanPathDelay is based on the symmetry of the uplink and downlink, that is, only the condition of uplink and downlink symmetry is established, and the link delay calculated according to equation (1) is the exact link delay.
  • this condition is not satisfied, that is, the delay and time offset of the master-slave link obtained by (1) and (2) have large errors.
  • the time synchronization accuracy is seriously degraded, so the time synchronization error needs to be compensated in real time.
  • the time of the network node is obtained by counting the pulse output of the local crystal oscillator, but the frequency of the node clock crystal oscillator is stable within a certain time range.
  • T time
  • T absolute time
  • the PTP protocol-based multi-hop wireless backhaul network time synchronization error compensation method is implemented by the method described below, as shown in FIG. 3 .
  • the intermediate node i records the arrival times Ts_arrived i and Td_arrived i of the synchronization message Sync and the delay request message Delay_Req, leaving time Ts_left i and Td_left i and the message ID;
  • the intermediate node i Sync synchronization packet arrives at node i-1 transmission time Ts_left i-1 and local time Ts_arrived i, N stores the latest set of time information (Ts_arrived i, Ts_arrived i -Ts_left i -1), The kth group information is (Ts_arrived i,k , Ts_arrived i, k -Ts_left i-1,k ), and based on the least squares linear regression technique, the time offset between nodes i and i-1 is obtained.
  • the slope of the arrival time Ts_arrived i is
  • the time offset between nodes i and i-1 is:
  • the local forwarding time of the synchronization message Sync and the delay request message Delay_Req is:
  • T_dwell i (T_left i -T_arrived i ) ⁇ i . (6)
  • T_arrived i is Td_arrived i and T_left i is Td_left i ; for synchronous message Sync, T_arrived i is Ts_arrived i and T_left i is Ts_left i .
  • the link delay of the synchronization message Sync transmitted between nodes i and i-1 is:
  • linkDelay i-1,i (Ts_arrived i -Ts_left i-1 -offset i-1,i ) ⁇ i (7)
  • the link delay of the delay request message Delay_Req transmitted between nodes i and i-1 is:
  • linkDelay i,i-1 (Td_arrived i-1 -Td_left i +offset i-1,i ) ⁇ i (8)
  • the intermediate node i When receiving the follow message Follow_Up and the delay request response message Delay_Resp, the intermediate node i adds the packet forwarding time and the link delay corresponding to the two IDs to the follow message Follow_Up and the delay request response.
  • the header of the message Delay_Resp is corrected in the correction field; when the follow message Follow_Up, the delay request response message Delay_Resp, and the synchronization message Sync are sent, the modified header is used to carry the synchronization message Sync transmission time Ts_left which is consistent with the message ID. i , delay request message Delay_Req arrival time Td_arrived i and time correction value ⁇ i ;
  • the slave node calculates the link average according to the transmission and reception time of the synchronization message Sync and the delay request message Delay_Req, and the correction field value of the follow message follow_Resp and the delay request response message Delay_Resp which are consistent with the two IDs.
  • meanPathDelay [(t2-t3)+(t4-t1)-correctionField of Follow_Up-correctionField of Delay_Resp]/2 (9)
  • the message correction field refers to a header correctionField field of a PTP message.
  • the field value of the synchronization message Sync and the delay request message Delay_Req is 0, and the message is followed.
  • the field values of the Follow_Up and the Delay Request Response message Delay_Resp are the forwarding delay and the link delay of the synchronization message Sync and the delay request message Delay_Req, respectively.
  • the modified header to transmit the added time information, that is, using the following message follow_Res, the delayed request response message Delay_Resp, and the header 4 byte reserved field of the synchronization message Sync to transmit the synchronization message Sync consistent with the message ID.
  • the time information of the transmission time Ts_left i , the delay request message Delay_Req arrival time Td_arrived i, and the time correction value ⁇ i are added.
  • the fields of the Sync, Delay_Req, follow_Up, and Delay_Resp packets are 0, 1, 8, and 9, respectively.

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Abstract

本发明涉及无线网络通信技术，具体地说是一种基于PTP协议的多跳无线回程网络时间同步误差补偿方法。基于PTP协议，本发明利用中间节点统计收发PTP同步报文Sync和延时请求报文Delay_Req的时间戳，并基于线性回归技术检测并补偿同步报文Sync和延时请求报文Delay_Req在本地的转发时间以及节点间传输的链路时延，最终实现主从节点的无线链路非对称时延修正，完成时间同步误差补偿。本发明不修改现有的PTP协议，利用PTP报文的报头传输补偿时间、报文发送与到达时间以及时间修正值等额外时间信息，减少了报文开销，满足了时间同步误差补偿的实时性以及高精度要求，提高了现有的时间同步精度，实用性强。

Description

基于PTP协议的多跳无线回程网络时间同步误差补偿方法 技术领域
本发明涉及无线网络通信领域，具体地说是一种基于PTP协议的多跳无线回程网络时间同步误差补偿方法。
背景技术
多跳无线回程网络(Multi-hop Wireless Backhaul Networks，MWBNs)旨在提供高速、长距离、非视距以及低成本的无线接入服务，弥补了有线回程网络存在布线困难、成本高、网络覆盖面积受限以及拓扑结构灵活性差等问题的不足。由于工厂环境恶劣、布线困难，同时为了提高工厂生产效率，数字油田、智能电网广域互联、工业机器人协同操作等新型工业应用迫切需要构建管控一体化的无线回程网络，完成区域覆盖，实现测量与控制以及音视频等信息的混合传输。对于工业应用的新要求，MWBNs具有明显的优势。
然而设备的控制信息对MWBNs的QoS往往有着严格的需求，如控制信号的可靠性要求100％，时延和抖动要求为ms级，即MWBNs需要满足控制信息传输的高实时和高可靠等要求。时间同步技术作为MWBNs的一个关键技术，在解决信息融合与协同处理、保证信息传输的实时性和可靠性等问题上至关重要。然而节点的本地时间是通过对内部晶振的输出脉冲计数来完成，节点间需要交换时间信息来实现同步。因此，受内部晶振差异以及工厂环境下网络通信链路干扰的影响，节点间的时间很难实现精确同步。
IEEE 1588 v2(Precision Time Protocol，PTP)协议基于现有的网络通信协议，解决了工业有线以太网时间同步的问题，目前的同步精度可以达到50ns。但PTP协议实现高精度时间同步的关键是基于硬件时间戳和对称链路。所谓硬件时间戳，即在近物理层获取网络报文的收发时间戳。同时，为了进一步抵消链路非对称性的影响，PTP协议建立透传时钟的概念，有效保障了上下行通信链路的对称性，进而提高时间同步的精度。然而当前的Wi-Fi芯片多为单芯片结构，即Wi-Fi节点时间戳的选取只能在MAC层以上实现，MAC层排队、PHY层传输等转发时延误差以及时间戳的选取机制会严重影响链路的非对称性。现有方法多采用统计学原理进行链路时延补偿，增加了网络中的报文，同时实时性差。而且，实验发现将PTP协议直接应用到无线网络中的同步精度可达ms级。同时，开源的Wi-Fi芯片在目前的市场上无法获得，而基于FPGA设计Wi-Fi的MAC层所带来的开发成本太大，所以设计基于PTP协议的无线网络节点是不可取的。
发明内容
针对现有技术中存在的上述不足之处，本发明要解决的技术问题是提供一种基于PTP协议的多跳无线回程网络时间同步误差补偿方法，在当前的PTP以太网设备的基础上，实现PTP设备的无线通信链路的时延补偿，进而实现高精度的时间同步。
本发明为实现上述目的所采用的技术方案是：一种基于PTP协议的多跳无线回程网络时间同步误差补偿方法，包括以下步骤：
将工业现场的节点搭建成层次化的多跳网络结构；
把根节点作为主节点，叶子节点作为从节点，主从节点之间采用PTP协议进行时间同步，同步方式为two-step；
用于主节点和从节点之间数据转发的中间节点i在转发报文时，记录有关PTP报文的时间信息，并基于线性回归技术计算额外的时间信息；
中间节点i在发送跟随报文Follow_Up、延时请求响应报文Delay_Resp以及同步报 文Sync时利用修改后的报头捎带额外的时间信息；
从节点收到PTP报文时根据PTP协议完成同步误差补偿。
所述two-step同步方式是指：利用跟随报文Follow_Up传输同步报文Sync的时间信息，利用延时请求响应报文Delay_Resp传输延时请求报文Delay_Req的时间信息。
所述有关PTP报文的时间信息包括：同步报文Sync和延时请求报文Delay_Req在中间节点i的到达时间Ts_arrivedi与Td_arrivedi，离开时间Ts_lefti与Td_lefti以及报文ID；从与同步报文Sync的ID一致的跟随报文Follow_Up中获取同步报文Sync离开节点i-1的时间Ts_lefti-1；从与延时请求报文Delay_Req的ID一致的延时请求响应报文Delay_Resp中获取延时请求报文Delay_Req到达节点i-1的时间Td_arrivedi-1；从同步报文Sync中获取的节点i-1时间修正值βi-1。
所述额外的时间信息包括：本地时间修正值βi、本地转发时间以及同步报文Sync和延时请求报文Delay_Req在节点i和i-1之间传输的链路时延。
所述基于线性回归技术计算额外的时间信息，具体为：
中间节点i存储最新的N组时间信息(Ts_arrivedi，Ts_arrivedi-Ts_lefti-1)，其中(Ts_arrivedi，k，Ts_arrivedi，k-Ts_lefti-1，k)为第k组信息。基于最小二乘法的线性回归，中间节点i得到节点i和i-1之间的时间偏移相对于到达时间Ts_arrivedi的斜率：
Figure PCTCN2016070840-appb-000001
其中，
Figure PCTCN2016070840-appb-000002
Figure PCTCN2016070840-appb-000003
则节点i的时间修正值为：
βi＝(1-αi-1，i)βi-1         (4)
节点i和i-1之间的时间偏移为：
Figure PCTCN2016070840-appb-000004
同步报文Sync和延时请求报文Delay_Req的本地转发时间为：
T_dwelli＝(T_lefti-T_arrivedi)βi       (6)
其中，对于延时请求报文Delay_Req而言，T_arrivedi为Td_arrivedi，T_lefti为Td_lefti；对于同步报文Sync而言，T_arrivedi为Ts_arrivedi，T_lefti为Ts_lefti。
同步报文Sync在节点i和i-1之间传输的链路时延为：
linkDelayi-1，i＝(Ts_arrivedi-Ts_lefti-1-offseti-1，i)βi    (7)
延时请求报文Delay_Req在节点i和i-1之间传输的链路时延为：
linkDelayi，i-1＝(Td_arrivedi-1-Td_lefti+offseti-1，i)βi    (8)
所述修改后的报头格式为：将报头4字节reserved域用来传输增加的时间信息的PTP通用报头格式。
所述捎带额外的时间信息，具体为：
中间节点i在发送跟随报文Follow_Up、延时请求响应报文Delay_Resp时，将与二者ID一致的同步报文Sync和延时请求报文Delay_Req转发时间以及链路时延分别加到各自报头修正域correctionField中；将与二者ID一致的同步报文Sync离开时间Ts_lefti和延时请求报文Delay_Req到达时间Td_arrivedi分别写入各自报头4字节的reserved域；
中间节点i在发送同步报文Sync时，将本地时间修正值写入报头4字节的reserved域。
所述报头修正域为：在two-step同步中，同步报文Sync和延时请求报文Delay_Req的该域值为0，跟随报文Follow_Up和延时请求响应报文Delay_Resp的该域值分别为同 步报文Sync和延时请求报文Delay_Req在中间节点的转发时延以及链路时延。
所述从节点收到PTP报文时根据PTP协议完成同步误差补偿，具体为：
从节点根据同步报文Sync和延时请求报文Delay_Req的发送和接受时间、以及与二者ID一致的跟随报文Follow_Up和延时请求响应报文Delay_Resp的correctionField域值计算链路平均时延meanPathDelay和时间偏移shift：
meanPathDelay＝[(t2-t3)+(t4-t1)-correctionField of Follow_Up-correctionField of Delay_Resp]/2        (9)
shift＝t2-t1-meanPathDelay-correctionField of Follow_Up  (10)
完成时间同步误差补偿；
其中，t1为主时钟记录发送同步报文Sync的时间，t2为从时钟记录收到同步报文Sync的时间，t3为从时钟记录发送延时请求报文Delay_Req的时间，t4为主时钟记录收到延时请求报文Delay_Req的时间。
本发明提出的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，充分考虑现有设备的局限性以及无线链路的非对称性问题，在不影响现有PTP协议的基础上，减少报文开销，实现链路时延的实时修正，完成时间同步误差补偿。具体表现在：
1.本发明基于现有的PTP协议和设备，降低了开发成本；
2.本发明利用PTP报文报头修正域correctionField和预留域reserved传输额外的时间信息，减少了报文开销；
3.本发明利用中间节点实现PTP报文的转发时间以及链路时延的补偿，满足了链路时延修正的实时性以及同步误差补偿的高精度要求，提高了现有的时间同步精度，实用性强。
附图说明
图1为本发明的工业无线网络示意图；
图2为PTP协议下two-step同步原理；
图3为PTP协议下中间节点完成链路时延补偿示意图；
图4为本发明采用的修改后的PTP报文报头。
具体实施方式
下面结合附图及实施例对本发明做进一步的详细说明。
本发明方法包括以下步骤：将现场的节点搭建成层次化的多跳网络结构；采用PTP协议下的two-step同步方式；利用中间节点完成PTP同步报文Sync和延时请求报文Delay_Req的转发时间以及链路时延检测与补偿，实现时间同步误差补偿。
如图1所示，本发明搭建的层次化多跳无线网络结构。将网络中的根节点作为时间源，即主节点；叶子节点作为从节点，通过多跳的方式实现与主节点的通信，并作为接入节点负责接入网的信息融合。而中间节点作为转发节点实现上下行链路数据包的转发，并完成报文转发时延以及链路时延补偿。
如图2所示，为所述的PTP协议下的two-step同步原理。主时钟周期性发送包含发送时间t1的同步报文Sync；从时钟记录收到同步报文Sync的时间t2，然后发送延时请求报文Delay_Req，并记录发送时间t3；主时钟记录收到延时请求报文Delay_Req的时间t4，并发送包含t4的延时请求响应报文Delay_Resp给从时钟。从时钟根据获得的4个时间值t1、t2、t3、t4来计算其与主时钟之间的链路平均时延meanPathDelay和时间偏移：
meanPathDelay＝[(t2-t1)+(t4-t3)]/2      (1)
shift＝[(t2-t1)-(t4-t3)]/2      (2)
显然，meanPathDelay的计算是建立在上下行链路对称的基础上，即只有上下行链路对称的条件成立，根据式(1)计算得到的链路时延才是精确的链路时延。但在实际的网络环境中，尤其是在多跳无线网络环境中，该条件并不满足，即由(1)和(2)得到的主从节点链路时延和时间偏移存在较大误差，造成时间同步精度严重下降，因此需要对时间同步误差进行实时补偿。
网络节点的时间都是通过对本地晶振输出脉冲计数获得，然而在一定时间范围内节点时钟晶振的频率是稳定的。同时，节点时间T和绝对时间t之间是线性关系，即T＝α·t+β。所以，节点间的时间偏移与时间也成线性关系。
所述基于PTP协议的多跳无线回程网络时间同步误差补偿方法，通过以下描述的方法实现，如图3所示。
(1)中间节点i记录同步报文Sync和延时请求报文Delay_Req的到达时间Ts_arrivedi与Td_arrivedi，离开时间Ts_lefti与Td_lefti以及报文ID；
(2)中间节点i根据同步报文Sync在节点i-1的发送时间Ts_lefti-1和本地到达时间Ts_arrivedi，存储最新的N组时间信息(Ts_arrivedi，Ts_arrivedi-Ts_lefti-1)，其中第k组信息为(Ts_arrivedi，k，Ts_arrivedi，k-Ts_lefti-1，k)，并基于最小二乘法的线性回归技术，得到节点i和i-1之间的时间偏移相对于到达时间Ts_arrivedi的斜率：
Figure PCTCN2016070840-appb-000005
其中，
Figure PCTCN2016070840-appb-000006
Figure PCTCN2016070840-appb-000007
则节点i的时间修正值为：
βi＝(1-αi-1，i)βi-1         (4)
节点i和i-1之间的时间偏移为：
Figure PCTCN2016070840-appb-000008
同步报文Sync和延时请求报文Delay_Req的本地转发时间为：
T_dwelli＝(T_lefti-T_arrivedi)βi.       (6)
其中，对于延时请求报文Delay_Req而言，T_arrivedi为Td_arrivedi，T_lefti为Td_lefti；对于同步报文Sync而言，T_arrivedi为Ts_arrivedi，T_lefti为Ts_lefti。
同步报文Sync在节点i和i-1之间传输的链路时延为：
linkDelayi-1，i＝(Ts_arrivedi-Ts_lefti-1-offseti-1，i)βi  (7)
延时请求报文Delay_Req在节点i和i-1之间传输的链路时延为：
linkDelayi，i-1＝(Td_arrivedi-1-Td_lefti+offseti-1，i)βi   (8)
(3)中间节点i在收到跟随报文Follow_Up和延时请求响应报文Delay_Resp时，将与二者ID一致的报文转发时间以及链路时延加入到跟随报文Follow_Up和延时请求响应报文Delay_Resp的报头修正域correctionField中；在发送跟随报文Follow_Up、延时请求响应报文Delay_Resp以及同步报文Sync时采用修改后的报头分别捎带与报文ID一致的同步报文Sync发送时间Ts_lefti、延时请求报文Delay_Req到达时间Td_arrivedi以及时间修正值βi；
(4)从节点根据同步报文Sync和延时请求报文Delay_Req的发送和接受时间、以及与二者ID一致的跟随报文Follow_Up和延时请求响应报文Delay_Resp的correctionField域值计算链路平均时延meanPathDelay和时间偏移shift：
meanPathDelay＝[(t2-t3)+(t4-t1)-correctionField of Follow_Up-correctionField of Delay_Resp]/2         (9)
shift＝t2-t1-meanPathDelay-correctionField of Follow_Up  (10)
完成时间同步误差补偿。
如图4所示，所述报文修正域是指PTP报文的报头correctionField域，在two-step时钟中，同步报文Sync和延时请求报文Delay_Req的该域值为0，跟随报文Follow_Up和延时请求响应报文Delay_Resp的该域值分别为同步报文Sync和延时请求报文Delay_Req在中间节点的转发时延和链路时延。所述利用修改后的报头传输增加的时间信息，即采用跟随报文Follow_Up、延时请求响应报文Delay_Resp以及同步报文Sync的报头4字节reserved域传递与报文ID一致的同步报文Sync发送时间Ts_lefti、延时请求报文Delay_Req到达时间Td_arrivedi以及时间修正值βi等增加的时间信息。同时，通过检查messageType域检测报文类型，Sync、Delay_Req、Follow_Up、Delay_Resp等报文的该域值分别为0、1、8、9。

Claims (9)

  1. 一种基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，包括以下步骤：
    将工业现场的节点搭建成层次化的多跳网络结构；
    把根节点作为主节点，叶子节点作为从节点，主从节点之间采用PTP协议进行时间同步，同步方式为two-step；
    用于主节点和从节点之间数据转发的中间节点i在转发报文时，记录有关PTP报文的时间信息，并基于线性回归技术计算额外的时间信息；
    中间节点i在发送跟随报文Follow_Up、延时请求响应报文Delay_Resp以及同步报文Sync时利用修改后的报头捎带额外的时间信息；
    从节点收到PTP报文时根据PTP协议完成同步误差补偿。
  2. 根据权利要求1所述的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，所述two-step同步方式是指：利用跟随报文Follow_Up传输同步报文Sync的时间信息，利用延时请求响应报文Delay_Resp传输延时请求报文Delay_Req的时间信息。
  3. 根据权利要求1所述的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，所述有关PTP报文的时间信息包括：同步报文Sync和延时请求报文Delay_Req在中间节点i的到达时间Ts_arrivedi与Td_arrivedi，离开时间Ts_lefti与Td_lefti以及报文ID：从与同步报文Sync的ID一致的跟随报文Follow_Up中获取同步报文Sync离开节点i-1的时间Ts_lefti-1；从与延时请求报文Delay_Req的ID一致的延时请求响应报文Delay_Resp中获取延时请求报文Delay_Req到达节点i-1的时间Td_arrivedi-1；从同步报文Sync中获取的节点i-1时间修正值βi-1。
  4. 根据权利要求1所述的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，所述额外的时间信息包括：本地时间修正值βi、本地转发时间以及同步报文Sync和延时请求报文Delay_Req在节点i和i-1之间传输的链路时延。
  5. 根据权利要求1所述的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，所述基于线性回归技术计算额外的时间信息，具体为：
    中间节点i存储最新的N组时间信息(Ts_arrivedi，Ts_arrivedi-Ts_lefti-1)，其中(Ts_arrivedi，k，Ts_arrivedi，k-Ts_lefti-1，k)为第k组信息。基于最小二乘法的线性回归，中间节点i得到节点i和i-1之间的时间偏移相对于到达时间Ts_arrivedi的斜率：
    Figure PCTCN2016070840-appb-100001
    其中，
    Figure PCTCN2016070840-appb-100002
    Figure PCTCN2016070840-appb-100003
    则节点i的时间修正值为：
    βi＝(1-αi-1，i)βi-1   (4)
    节点i和i-1之间的时间偏移为：
    Figure PCTCN2016070840-appb-100004
    同步报文Sync和延时请求报文Delay_Req的本地转发时间为：
    Figure PCTCN2016070840-appb-100005
    其中，对于延时请求报文Delay_Req而言，T_arrivedi为Td_arrivedi，T_lefti为Td_lefti；
    对于同步报文Sync而言，T_arrivedi为Ts_arrivedi，T-lefti为Ts_lefti。
    同步报文Sync在节点i和i-1之间传输的链路时延为：
    linkDelayi-1，i＝(Ts_arrivedi-Ts_lefti-1-offseti-1，i)βi   (7)
    延时请求报文Delay_Req在节点i和i-1之间传输的链路时延为：
    linkDelayi，i-1＝(Td_arrivedi-1-Td_lefti+offseti-1，i)βi   (8)
  6. 根据权利要求1所述的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，所述修改后的报头格式为：将报头4字节reserved域用来传输增加的时间信息的PTP通用报头格式。
  7. 根据权利要求1所述的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，所述捎带额外的时间信息，具体为：
    中间节点i在发送跟随报文Follow_Up、延时请求响应报文Delay_Resp时，将与二者ID一致的同步报文Sync和延时请求报文Delay_Req转发时间以及链路时延分别加到各自报头修正域correctionField中；将与二者ID一致的同步报文Sync离开时间Ts_lefti和延时请求报文Delay_Req到达时间Td_arrivedi分别写入各自报头4字节的reserved域；
    中间节点i在发送同步报文Sync时，将本地时间修正值写入报头4字节的reserved域。
  8. 根据权利要求7所述的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，所述报头修正域为：在two-step同步中，同步报文Sync和延时请求报文Delay_Req的该域值为0，跟随报文Follow_Up和延时请求响应报文Delay_Resp的该域值分别为同步报文Sync和延时请求报文Delay_Req在中间节点的转发时延以及链路时延。
  9. 根据权利要求1所述的基于PTP协议的多跳无线回程网络时间同步误差补偿方法，其特征在于，所述从节点收到PTP报文时根据PTP协议完成同步误差补偿，具体为：
    从节点根据同步报文Sync和延时请求报文Delay_Req的发送和接受时间、以及与二者ID一致的跟随报文Follow_Up和延时请求响应报文Delay_Resp的correctionField域值计算链路平均时延meanPathDelay和时间偏移shift：
    meanPathDelay＝[(t2-t3)+(t4-t1)-correctionField ofFollow_Up-
    correctionField ofDelay_Resp]/2   (9)
    shift＝t2-t1-meanPathDelay-correctionField of Follow_Up(10)完成时间同步误差补偿；
    其中，t1为主时钟记录发送同步报文Sync的时间，t2为从时钟记录收到同步报文Sync的时间，t3为从时钟记录发送延时请求报文Delay_Req的时间，t4为主时钟记录收到延时请求报文Delay_Req的时间。
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