WO2018068180A1 - Master node, slave node, and synchronization information self-correction method - Google Patents

Abstract

Disclosed in the present invention are a master node, slave node, and synchronization information self-correction method. The method comprises: broadcasting and sending first data to at least one slave node to acquire a corresponding first transmission delay; receiving second data sent by the at least one slave node, and acquiring a corresponding second transmission delay, wherein the second data comprises the first transmission delay; acquiring, according to the first transmission delay and second transmission delay of the at least one slave node, a synchronization error of the slave node; and broadcasting and sending to the slave node the synchronization error, such that the slave node can correct a time slot boundary of sending data. In this way, the present invention enables highly accurate dynamic correction of a synchronization error at a low additional signaling overhead.

Description

Master node, slave node and synchronization information self-correction method

[Technical Field]

The present invention relates to the field of communications technologies, and in particular, to a master node, a slave node, and a synchronization information self-correction method.

 【Background technique】

In a wireless cellular network (MESH network), when a node accesses a network, it needs to obtain synchronization information through an initial synchronization process, so that the new access node and the primary node transmit data at the same time slot boundary. After the node accesses the network, it still needs to dynamically correct the synchronization message for the following reasons: When the signal-to-noise ratio is low or multiple nodes to be accessed occupy the same resource to send access synchronization signals, the initial synchronization may have a certain error. When there are multiple slave nodes in the network, the synchronization error between the slave nodes will be more Large, which in turn leads to inability to identify neighbors between nodes or degradation of receiver performance; after a long period of operation, the node may experience clock drift, thereby increasing synchronization errors and degrading network communication performance.

 [Summary of the Invention]

The embodiment of the invention provides a master node, a slave node and a synchronization information self-correction method, which can dynamically correct the synchronization error with higher precision, and the additional signaling overhead is small.

The present invention provides a synchronization information self-correction method, including: broadcasting a first data to at least one slave node to obtain a corresponding first propagation delay; receiving at least one second data sent by the slave node, and acquiring a corresponding first a propagation delay, wherein the second data includes a first propagation delay; obtaining a synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node; and transmitting a synchronization error to the slave node to enable the synchronization error to The slave node can correct the slot boundary of the transmitted data.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary.

The method of: broadcasting the first data to the at least one slave node to obtain the corresponding first propagation delay includes: broadcasting the first data to the plurality of slave nodes to obtain the first propagation delay corresponding to the slave node; and receiving The second data sent by the at least one slave node and the corresponding second propagation delay are obtained, including: receiving the second data sent by the multiple slave nodes, and acquiring a second propagation delay corresponding to the slave node.

The acquiring the synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node includes: acquiring multiple slaves according to the first propagation delay and the second propagation delay of the multiple slave nodes respectively The error of the node; averaging multiple errors to obtain synchronization errors of multiple slave nodes.

The error is the delay obtained by dividing the difference between the second propagation delay and the first propagation delay by two.

Among them, the initial value of the synchronization error is 0.

The present invention further provides a synchronization information self-correction method, comprising: receiving first data broadcasted by a primary node; acquiring a first propagation delay according to the first data; and transmitting second data to the primary node, so that the primary node acquires the second propagation a delay, wherein the second data includes a first propagation delay; the synchronization error is broadcasted by the receiving primary node, wherein the synchronization error is obtained according to the first propagation delay and the second propagation delay; and the data is sent according to the synchronization error correction Slotted boundary.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary.

The present invention further provides a master node, including: a first broadcast module, configured to broadcast and transmit first data to at least one slave node to obtain a corresponding first propagation delay; and a receiving module, configured to receive at least one slave node to send a second data, and obtaining a corresponding second propagation delay, wherein the second data includes a first propagation delay; the obtaining module is connected to the first broadcast module and the receiving module, and configured to be configured according to the first node according to the at least one The propagation delay and the second propagation delay acquire synchronization errors of the slave nodes; the second broadcast module is coupled to the acquisition module for broadcasting a synchronization error to the slave node so that the slave node can correct the slot boundary of the transmission data.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary.

The first broadcast module is configured to broadcast the first data to the plurality of slave nodes to obtain the first propagation delay corresponding to the slave node, and the receiving module is configured to receive the second data sent by the multiple slave nodes, and obtain and The second propagation delay corresponding to the slave node.

The obtaining module is configured to: acquire errors of the plurality of slave nodes according to the first propagation delay and the second propagation delay of the multiple slave nodes; average the multiple errors to obtain synchronization errors of the multiple slave nodes.

The error is the delay obtained by dividing the difference between the second propagation delay and the first propagation delay by two.

The present invention further provides a slave node, comprising: a first receiving module, configured to receive first data that is transmitted and sent by the master node; and an acquiring module, configured to be connected to the first receiving module, configured to acquire the first propagation delay according to the first data a sending module, connected to the obtaining module, configured to send the second data to the master node, so that the master node obtains the second propagation delay, where the second data includes the first propagation delay; and the second receiving module is connected to the sending module. And a synchronization error for receiving the broadcast of the primary node, wherein the synchronization error is obtained according to the first propagation delay and the second propagation delay; and the correction module is connected to the second receiving module, configured to correct the transmission data according to the synchronization error. Slotted boundary.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary.

The invention also provides a master node, comprising: a processor, a receiver, a memory, a transmitter and a data bus, wherein the processor, the receiver, the memory and the transmitter are connected by a data bus to communicate with each other; wherein the transmitter is used for Transmitting, by the at least one slave node, the first data to obtain a corresponding first propagation delay; the receiver is configured to receive the second data sent by the at least one slave node, and obtain a corresponding second propagation delay, where the second data is The first propagation delay is included; the processor is configured to acquire a synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node; the transmitter is further configured to broadcast the synchronization error to the slave node to enable the slave node The slot boundaries of the transmitted data can be corrected.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary.

The transmitter is further configured to broadcast the first data to the plurality of slave nodes to obtain the first propagation delay corresponding to the slave node, and the receiver is further configured to receive the second data sent by the multiple slave nodes, and obtain the The second propagation delay corresponding to the slave node.

The present invention also provides a slave node, including: a processor, a receiver, a memory, a transmitter, and a data bus. The processor, the receiver, the memory, and the transmitter are connected through a data bus to communicate with each other; wherein the receiver is used for Receiving, by the primary node, the first data that is sent by the primary node; the processor is configured to obtain the first propagation delay according to the first data; the transmitter is configured to send the second data to the primary node, so that the primary node acquires the second propagation delay, where the second data is The first propagation delay is included; the receiver is further configured to receive a synchronization error of the primary node broadcast transmission, wherein the synchronization error is obtained according to the first propagation delay and the second propagation delay; and the processor is configured to correct the transmission data according to the synchronization error. Slotted boundary.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary.

With the above solution, the present invention has the following advantages: the present invention obtains a corresponding first propagation delay by broadcasting the first data to at least one slave node, and receives at least one second data sent by the slave node, and obtains corresponding a second propagation delay, wherein the second data includes a first propagation delay; obtaining a synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node; and transmitting a synchronization error to the slave node by The slave node can correct the slot boundary of the transmitted data, and can dynamically correct the synchronization error with higher precision, and the additional signaling overhead is small.

 [Description of the Drawings]

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work. among them:

1 is a schematic diagram of a method for self-correcting synchronization information according to an embodiment of the present invention;

2 is a schematic diagram of a method for calculating a synchronization error according to an embodiment of the present invention;

3 is a schematic flow chart of a synchronization information self-correction method according to a first embodiment of the present invention;

4 is a schematic flow chart of a synchronization information self-correction method according to a second embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a master node according to a first embodiment of the present invention; FIG.

6 is a schematic structural diagram of a master node according to a second embodiment of the present invention;

7 is a schematic structural diagram of a slave node according to a first embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a slave node according to a second embodiment of the present invention.

【detailed description】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive scope are the scope of the present invention.

In the wireless MESH network, after the node has acquired the synchronization information through the initial synchronization process, it is necessary to continue the synchronization information of the dynamic self-correction node.

FIG. 1 is a schematic diagram of a method for self-correcting synchronization information according to an embodiment of the present invention. As shown in FIG. 1, the slave node includes slave node 0 to slave node N, where N is a positive integer. The synchronization information self-correction method includes:

Step 1: The primary node broadcasts the first data.

Specifically, the master node broadcasts the first data to the slave node 0, . . . from the node N. The first data includes an initial synchronization error with a value of zero.

Step 2: Receive the first data from the node and detect the first propagation delay.

In step 2, the slave nodes 0, ..., and the slave nodes N respectively detect the first propagation delay based on the first data. Different slave nodes are independent, and their first propagation delays may be the same or different.

Step 3: The second data is sent from the node to the master node. The second data includes a first propagation delay.

Step 4: The primary node receives the second data and detects the second propagation delay.

Step 5: The master node calculates the error.

Specifically, the master node calculates the error of the slave node 0, . . . , the slave node N according to the first propagation delay and the second propagation delay of the slave node N, respectively.

Step 6: The master node averages multiple errors to obtain a synchronization error.

The master node averages the errors of the slave nodes 0, ..., and the slave nodes N to obtain a synchronization error as a synchronization error common to the slave nodes 0, ..., and the slave nodes N.

Step 7: The master node broadcasts a synchronization error to the slave node.

Specifically, the master node broadcasts a synchronization error to the slave node 0, . . . from the node N, and the manner in which the master node broadcasts the synchronization error to the slave node is the same as the first node sends the first data to the slave node in step 1. The value of the synchronization error included in the data transmitted by the master node to the slave node in 7 is the synchronization error calculated in step 6.

Step 8: The slave node sends the slot boundary from the node according to the synchronization error correction.

In step 8, the slave nodes 0, ..., and the slave nodes N correct the respective slot boundaries transmitted according to the synchronization error to achieve the purpose of synchronization.

In the embodiment of the present invention, the first propagation delay and the second propagation delay and the calculation method of the synchronization error are shown in FIG. 2, and the synchronization information self-correction method includes:

Step S100: The primary node broadcasts the first data.

Step S101: The first data is received from the node, and the first propagation delay is detected.

The real propagation delay of the primary node broadcasting the first data is the difference between the time when the broadcast data arrives at the slave node and the time slot boundary of the master node. The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the boundary of the slave node slot.

Step S102: The slave node sends the second data to the master node. The second data includes a first propagation delay.

Step S103: The primary node receives the second data and detects the second propagation delay.

The true propagation delay of the second data sent by the slave node is the difference between the time when the second data arrives at the master node and the slot boundary of the slave node. The second propagation delay is the difference between the time when the data is sent from the node and the time slot of the master node, that is, the difference between the time when the second data arrives at the master node and the time slot of the master node.

FIG. 3 is a schematic flow chart of a synchronization information self-correction method according to a first embodiment of the present invention. As shown in FIG. 3, the synchronization information self-correction method includes:

Step S10: Broadcasting the first data to at least one slave node to obtain a corresponding first propagation delay.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the boundary of the slave node slot. In step S10, the first data may be broadcasted to the plurality of slave nodes to acquire a first propagation delay corresponding to the slave node. Different slave nodes can obtain the same first propagation delay and can also obtain different propagation delays.

Step S11: Receive second data sent by at least one slave node, and obtain a corresponding second propagation delay, where the second data includes a first propagation delay.

The second propagation delay is the difference between the time when the data is sent from the node and the time slot of the primary node. In step S11, the second data transmitted by the plurality of slave nodes is received, and the second propagation delay corresponding to the slave node is acquired. Each slave node corresponds to a second propagation delay.

Step S12: Acquire a synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node.

In step S12, errors of a plurality of slave nodes are respectively acquired according to the first propagation delay and the second propagation delay of the plurality of slave nodes; and the plurality of errors are averaged to obtain synchronization errors of the plurality of slave nodes. Specifically, each of the slave nodes corresponds to a first propagation delay and a second propagation delay, and the error of the corresponding slave node is obtained according to the first propagation delay and the second propagation delay, thereby obtaining an error of each slave node. The error of all slave nodes is averaged to obtain the synchronization error of all slave nodes.

In the embodiment of the present invention, the error is a delay obtained by dividing the difference between the second propagation delay and the first propagation delay by 2. The initial value of the synchronization error is zero. The average number of times is small, that is, when the number of slave nodes performing error averaging is small, the synchronization error is zero.

Step S13: Broadcast synchronization error is transmitted to the slave node so that the slave node can correct the slot boundary of the transmission data.

In the embodiment of the present invention, the synchronization error is obtained according to the first propagation delay and the second propagation delay by acquiring the first propagation delay and the second propagation delay of the at least one slave node, so that the slave node can be corrected according to the synchronization error. The time slot boundary of the transmitted data, the synchronization information self-correction method can dynamically correct the synchronization error with higher precision, and the additional signaling overhead is small.

4 is a schematic flow chart of a synchronization information self-correction method according to a second embodiment of the present invention. As shown in FIG. 4, the synchronization information self-correction method includes:

Step S20: Receive the first data that the primary node broadcasts and transmits.

Step S21: Acquire a first propagation delay according to the first data. The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the boundary of the slave node slot.

Step S22: Send the second data to the primary node, so that the primary node acquires the second propagation delay, where the second data includes the first propagation delay.

The second propagation delay is the difference between the time when the data is sent from the node and the time slot of the primary node.

Step S23: Receive a synchronization error that the primary node broadcasts, wherein the synchronization error is obtained according to the first propagation delay and the second propagation delay.

In the embodiment of the present invention, the master node acquires an error of the corresponding slave node according to the first propagation delay and the second propagation delay of the slave node, and further obtains a synchronization error according to the error of the plurality of slave nodes.

Step S24: Correcting the slot boundary of the transmission data according to the synchronization error.

In the embodiment of the present invention, the synchronization error is obtained by dynamically acquiring the first propagation delay and the second propagation delay of the slave node, and the slot boundary of the transmission data is dynamically corrected according to the synchronization error, and the synchronization information self-correction method can further The high precision dynamically corrects the synchronization error and results in less additional signaling overhead.

FIG. 5 is a schematic structural diagram of a master node according to a first embodiment of the present invention. As shown in FIG. 5, the master node 10 includes a first broadcast module 11, a receiving module 12, an obtaining module 13, and a second broadcast module 14. The first broadcast module 11 is configured to broadcast the first data to the at least one slave node to obtain a corresponding first propagation delay. The receiving module 12 is configured to receive the second data sent by the at least one slave node, and obtain a corresponding second propagation delay, where the second data includes the first propagation delay. The obtaining module 13 is connected to the first broadcast module 11 and the receiving module 12, and is configured to acquire a synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node. The second broadcast module 14 is coupled to the acquisition module 13 for broadcasting a synchronization error to the slave node so that the slave node can correct the slot boundary of the transmitted data.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary. The second propagation delay and the second propagation delay may be set by the user as needed, and are not limited herein.

In the embodiment of the present invention, more specifically, the first broadcast module 11 is configured to broadcast the first data to the plurality of slave nodes to obtain the first propagation delay corresponding to the slave node. The receiving module 12 is configured to receive second data sent by multiple slave nodes, and acquire a second propagation delay corresponding to the slave node. The obtaining module 13 is configured to: acquire errors of the plurality of slave nodes according to the first propagation delay and the second propagation delay of the plurality of slave nodes respectively; and average the plurality of errors to obtain synchronization errors of the plurality of slave nodes. In this way, the synchronization error can be dynamically corrected with higher accuracy, and the additional signaling overhead is small.

The error is the delay obtained by dividing the difference between the second propagation delay and the first propagation delay by two. The initial value of the synchronization error is zero. The average number of times is small, that is, when the number of slave nodes performing error averaging is small, the synchronization error is zero.

FIG. 6 is a schematic structural diagram of a master node according to a second embodiment of the present invention. As shown in FIG. 6, the master node 20 includes a processor 21, a receiver 22, a memory 23, a transmitter 24, and a data bus 25. The processor 21, the receiver 22, the memory 23, and the transmitter 24 are connected via a data bus 25 for mutual communication.

The transmitter 24 is configured to broadcast the first data to the at least one slave node to obtain a corresponding first propagation delay. The receiver 22 is configured to receive the second data sent by the at least one slave node, and obtain a corresponding second propagation delay, where the second data includes a first propagation delay. The memory 23 stores a program. The processor 21 is configured to acquire a synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node. The transmitter 24 broadcasts a synchronization error to the slave node so that the slave node can correct the slot boundary of the transmitted data.

The memory 23 is used to store the first propagation delay and the second propagation delay. The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary. The second propagation delay and the second propagation delay may be set by the user as needed, and are not limited herein.

In the embodiment of the present invention, more specifically, the transmitter 24 broadcasts the first data to the plurality of slave nodes to acquire the first propagation delay corresponding to the slave node. The receiver 22 receives the second data transmitted by the plurality of slave nodes and acquires a second propagation delay corresponding to the slave node. The processor 21 acquires errors of the plurality of slave nodes respectively according to the first propagation delay and the second propagation delay of the plurality of slave nodes; and averages the plurality of errors to obtain synchronization errors of the plurality of slave nodes. In this way, the synchronization error can be dynamically corrected with higher accuracy, and the additional signaling overhead is small.

The error is the delay obtained by dividing the difference between the second propagation delay and the first propagation delay by two. The initial value of the synchronization error is zero. The average number of times is small, that is, when the number of slave nodes performing error averaging is small, the synchronization error is zero.

Figure 7 is a block diagram showing the structure of a slave node in the first embodiment of the present invention. As shown in FIG. 7, the slave node 30 includes a first receiving module 31, an obtaining module 32, a transmitting module 33, a second receiving module 34, and a correcting module 35. The first receiving module 31 is configured to receive the first data that is sent by the primary node. The obtaining module 32 is connected to the first receiving module 31 for acquiring the first propagation delay according to the first data. The sending module 33 is connected to the obtaining module 32, and is configured to send the second data to the master node, so that the master node obtains the second propagation delay, where the second data includes the first propagation delay. The second receiving module 34 is connected to the sending module 33 for receiving a synchronization error of the primary node broadcast transmission, wherein the synchronization error is obtained according to the first propagation delay and the second propagation delay. The correction module 35 is coupled to the second receiving module 34 for correcting the slot boundaries of the transmitted data based on the synchronization error.

In the embodiment of the present invention, after the sending module 33 sends the second data to the primary node, the primary node acquires the second propagation delay according to the second data. Then, the master node acquires the error of the slave node according to the first propagation delay included in the second data and the acquired second propagation delay. The error of the plurality of slave nodes that the master node can acquire, and then the synchronization error is obtained according to the error of the plurality of slave nodes, and the correction module 35 corrects the slot boundary of the transmitted data according to the synchronization error, so that the dynamic correction can be dynamically performed with higher precision. Synchronization errors, and the additional signaling overhead is small.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary. The second propagation delay and the second propagation delay may be set by the user as needed, and are not limited herein.

FIG. 8 is a schematic structural diagram of a slave node according to a second embodiment of the present invention. The slave node 40 includes a processor 41, a receiver 42, a memory 43, a transmitter 44, and a data bus 45. The processor 41, the receiver 42, the memory 43, and the transmitter 44 are connected via a data bus 45 for mutual communication.

In the embodiment of the present invention, the receiver 44 is configured to receive the first data that the primary node broadcasts. The processor 41 is configured to acquire the first propagation delay according to the first data. The transmitter 44 is configured to send the second data to the primary node, so that the primary node acquires the second propagation delay, where the second data includes the first propagation delay. The receiver 44 is further configured to receive a synchronization error transmitted by the primary node, wherein the synchronization error is obtained according to the first propagation delay and the second propagation delay. The processor 41 is also operative to correct the slot boundaries of the transmitted data based on the synchronization error.

In the embodiment of the present invention, after the transmitter 44 sends the second data to the primary node, the primary node acquires the second propagation delay according to the second data. Then, the master node acquires the error of the slave node according to the first propagation delay included in the second data and the acquired second propagation delay. The error of the plurality of slave nodes that the master node can acquire, and then the synchronization error is obtained according to the error of the plurality of slave nodes, and the processor 41 corrects the slot boundary of the transmitted data according to the synchronization error, so that the synchronization can be dynamically corrected with higher precision. Error, and the additional signaling overhead is small.

The first propagation delay is the difference between the time when the broadcast data arrives at the slave node and the slave node slot boundary, and the second propagation delay is the difference between the time when the slave node transmits data and the master node slot boundary. The second propagation delay and the second propagation delay may be set by the user as needed, and are not limited herein.

In summary, the present invention obtains a corresponding first propagation delay by broadcasting the first data to at least one slave node, receiving the second data sent by the at least one slave node, and acquiring a corresponding second propagation delay. The second data includes a first propagation delay; the synchronization error of the slave node is obtained according to the first propagation delay and the second propagation delay of the at least one slave node; the synchronization error is broadcasted to the slave node to enable the slave node to correct the transmission. The slot boundary of the data can dynamically correct the synchronization error with higher precision, and the additional signaling overhead is small.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation of the present invention and the contents of the drawings may be directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (18)

1. A synchronization information self-correction method, characterized in that the method comprises:

   Transmitting, by the at least one slave node, the first data to obtain a corresponding first propagation delay;

   Receiving the second data sent by the at least one slave node, and acquiring a corresponding second propagation delay, where the second data includes the first propagation delay;

   Acquiring a synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node;

   The synchronization error is broadcasted to the slave node to enable the slave node to correct the slot boundary of the transmitted data.
2. The method according to claim 1, wherein the first propagation delay is a difference between a time when broadcast data arrives at the slave node and a boundary of the slave node slot, and the second propagation delay is The difference between the time at which the slave node transmits data and the slot boundary of the master node.
3. The method of claim 1 wherein

   The transmitting the first data to the at least one slave node to obtain the corresponding first propagation delay includes: broadcasting the first data to the plurality of the slave nodes to obtain the first propagation corresponding to the slave node Delay

   Receiving the second data sent by the at least one slave node, and acquiring the corresponding second propagation delay, including: receiving second data sent by the plurality of slave nodes, and acquiring a number corresponding to the slave node Second, the propagation delay.
4. The method according to claim 3, wherein the acquiring the synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node comprises:

   Obtaining errors of the plurality of slave nodes according to the first propagation delay and the second propagation delay of the plurality of slave nodes;

   A plurality of said errors are averaged to obtain synchronization errors of a plurality of said slave nodes.
5. The method according to claim 4, wherein the error is a time delay obtained by dividing a difference between the second propagation delay and the first propagation delay by two.
6. The method of claim 1 wherein said synchronization error is initially zero.
7. A synchronization information self-correction method, characterized in that the method comprises:

   Receiving, by the primary node, the first data sent by the broadcast;

   Obtaining a first propagation delay according to the first data;

   Transmitting the second data to the primary node, so that the primary node acquires a second propagation delay, where the second data includes the first propagation delay;

   Receiving, by the primary node, a synchronization error sent by the broadcast, wherein the synchronization error is obtained according to the first propagation delay and the second propagation delay;

   The slot boundary of the transmitted data is corrected based on the synchronization error.
8. The method according to claim 7, wherein the first propagation delay is a difference between a time when broadcast data arrives at the slave node and a boundary of the slave node slot, and the second propagation delay is The difference between the time at which the slave node transmits data and the slot boundary of the master node.
9. A master node, wherein the master node includes:

   a first broadcast module, configured to broadcast, to the at least one slave node, the first data to obtain a corresponding first propagation delay;

   a receiving module, configured to receive the second data sent by the at least one slave node, and obtain a corresponding second propagation delay, where the second data includes the first propagation delay;

   An acquiring module, configured to be connected to the first broadcast module and the receiving module, configured to acquire synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node ;

   And a second broadcast module, coupled to the acquiring module, configured to broadcast the synchronization error to the slave node to enable the slave node to correct a slot boundary of the transmitted data.
10. The master node according to claim 9, wherein the first propagation delay is a difference between a time when broadcast data arrives at the slave node and a boundary of the slave node slot, and the second propagation delay is The difference between the time at which the slave node transmits data and the slot boundary of the master node.
11. The master node according to claim 9, wherein

    The first broadcast module is configured to broadcast the first data to the plurality of the slave nodes to obtain a first propagation delay corresponding to the slave node;

    The receiving module is configured to receive second data sent by the multiple slave nodes, and acquire a second propagation delay corresponding to the slave node.
12. A slave node, wherein the slave node comprises:

    a first receiving module, configured to receive, by the primary node, the first data that is sent by the primary node;

    An acquiring module, configured to be connected to the first receiving module, configured to acquire a first propagation delay according to the first data;

    a sending module, configured to be connected to the acquiring module, configured to send the second data to the primary node, so that the primary node acquires a second propagation delay, where the second data includes the first propagation delay;

    a second receiving module, configured to receive, by the sending module, a synchronization error that is broadcasted by the primary node, where the synchronization error is obtained according to the first propagation delay and the second propagation delay;

    And a correction module, coupled to the second receiving module, configured to correct a slot boundary of the transmitted data according to the synchronization error.
13. The slave node according to claim 12, wherein the first propagation delay is a difference between a time when broadcast data arrives at the slave node and a boundary of the slave node slot, and the second propagation delay is The difference between the time at which the slave node transmits data and the slot boundary of the master node.
14. A master node, the master node comprising: a processor, a receiver, a memory, a transmitter, and a data bus, wherein the processor, the receiver, the memory, and the transmitter pass the Data buses are connected to communicate with each other;

    The transmitter is configured to broadcast the first data to the at least one slave node to obtain a corresponding first propagation delay;

    The receiver is configured to receive the second data sent by the at least one slave node, and obtain a corresponding second propagation delay, where the second data includes the first propagation delay;

    The processor is configured to acquire a synchronization error of the slave node according to the first propagation delay and the second propagation delay of the at least one slave node;

    The transmitter is further configured to broadcast the synchronization error to the slave node to enable the slave node to correct a slot boundary of the transmitted data.
15. The master node according to claim 14, wherein the first propagation delay is a difference between a time when broadcast data arrives at the slave node and a boundary of the slave node slot, and the second propagation delay is The difference between the time at which the slave node transmits data and the slot boundary of the master node.
16. The master node according to claim 14, wherein

    The transmitter is further configured to broadcast the first data to the plurality of the slave nodes to obtain a first propagation delay corresponding to the slave node;

    The receiver is further configured to receive second data sent by the plurality of slave nodes, and acquire a second propagation delay corresponding to the slave node.
17. A slave node, the slave node comprising: a processor, a receiver, a memory, a transmitter, and a data bus, wherein the processor, the receiver, the memory, and the transmitter pass the Data buses are connected to communicate with each other;

    The receiver is configured to receive first data that is sent by the primary node by broadcasting;

    The processor is configured to acquire a first propagation delay according to the first data;

    The transmitter is configured to send the second data to the primary node, so that the primary node acquires a second propagation delay, where the second data includes the first propagation delay;

    The receiver is further configured to receive a synchronization error that is broadcasted by the primary node, where the synchronization error is obtained according to the first propagation delay and the second propagation delay;

    The processor is configured to correct a slot boundary of the transmitted data according to the synchronization error.
18. The slave node according to claim 17, wherein the first propagation delay is a difference between a time when broadcast data arrives at the slave node and a boundary of the slave node slot, and the second propagation delay is The difference between the time at which the slave node transmits data and the slot boundary of the master node.