WO2022205838A1 - Sensor time synchronization system-based time synchronization method, medium and apparatus - Google Patents

Abstract

The present invention relates to the technical field of sensor communications, and in particular relates to a sensor time synchronization system-based time synchronization method, a medium and an apparatus. The system comprises a broadcast node, a reference node and more than two child nodes, wherein the reference node is used for providing a reference time for a time synchronization system, and each child node comprises a sensor. The method comprises: the child nodes receive a first time synchronization signal sent by the broadcast node; the child nodes receive a second time synchronization signal, wherein the second time synchronization signal is a signal sent by the reference node after receiving the first time synchronization signal sent by the broadcast node; and the child nodes adjust the local time according to the first time synchronization signal and the second time synchronization signal, so that the local time of the child nodes is synchronized with the reference time.

Description

Time synchronization method, medium and device based on sensor time synchronization system technical field

The present invention relates to the technical field of sensor communication, in particular to a time synchronization method, medium and device based on a sensor time synchronization system.

Background technique

The smart home industry is increasingly using sensors to obtain the status of the home environment, such as temperature and humidity, brightness, gas concentration, door and window opening and closing status, etc. These sensors are basically distributed systems, and they require sensors to work together. Time synchronization between nodes. Due to cost and volume constraints, sensors generally rely on their own crystal oscillators to provide the clock reference source. However, the frequency offset and temperature drift of the crystal oscillators lead to time differences between sensors. The accumulation of such differences will lead to unreliable time.

At present, most time synchronization technologies use the NTP (Network Time Protocol, Network Time Protocol) protocol or the PTP (Precision Time Protocol, high-precision time synchronization protocol) protocol to achieve time synchronization between distributed nodes, but this technology is computationally complex and consumes The power is large, and it is not suitable for sensors with low power consumption. In a complex wireless environment, the accuracy of time synchronization may be greatly reduced.

SUMMARY OF THE INVENTION

The technical problem mainly solved by the present invention is to provide a time synchronization method, medium and device based on a sensor time synchronization system, which has low power consumption for time synchronization and can improve time synchronization accuracy.

In order to solve the above technical problems, the first technical solution adopted by the present invention is to provide a time synchronization method based on a sensor time synchronization system. The system includes a broadcast node, a reference node and two or more sub-nodes, wherein the reference node is used for The time synchronization system provides the reference time, the child nodes include sensors, and the methods include:

The child node receives the first time synchronization signal sent by the broadcast node;

The child node receives a second time synchronization signal, where the second time synchronization signal is a signal sent by the reference node after receiving the first time synchronization signal sent by the broadcast node;

The child node adjusts the local time according to the first time synchronization signal and the second time synchronization signal, so that the local time of the child node is synchronized with the reference time.

In order to solve the above technical problem, the second technical solution adopted by the present invention is to provide a time synchronization method based on a sensor time synchronization system. The system includes a broadcast node, a reference node and two or more sub-nodes, wherein the reference node is used for Provide a reference time for the time synchronization system, the child nodes include sensors, and the methods include:

The reference node receives the first time synchronization signal sent by the broadcast node;

The reference node sends a second time synchronization signal to the child node, so that the child node adjusts the local time of the child node according to the first time synchronization signal and the second time synchronization signal, so that the local time of the child node is the same as the reference time, wherein the child node A first time synchronization signal sent by a broadcast node is received.

In order to solve the above-mentioned technical problems, the third technical solution adopted by the present invention is to provide a storage medium, wherein a computer program is stored in the storage medium, and the computer program is used to be executed to realize the above-mentioned time synchronization method based on the sensor time synchronization system .

In order to solve the above-mentioned technical problem, the fourth technical solution adopted by the present invention is: including at least one processing unit and at least one storage unit, the storage unit stores a computer program, and when the program is executed by the processing unit, the processing unit is made to execute the above sensor-based method. The steps of the time synchronization method of the time synchronization system.

The beneficial effects of the present invention are: different from the situation in the prior art, the time synchronization method based on the sensor time synchronization system according to the embodiment of the present application realizes the time synchronization of multiple sub-nodes by receiving the time synchronization signal broadcast twice, and reduces the alarm time. The time synchronization method of the embodiment of the present application receives the time synchronization signal by means of unidirectional broadcasting, does not depend on the consistency of uplink and downlink delays, and eliminates the need for The time synchronization error introduced by the sending time and the access time can better cope with complex wireless environments and improve the accuracy of time synchronization.

Description of drawings

Fig. 1 is the topological schematic diagram of the sensor time synchronization system of the present application;

2 is a schematic flowchart of a first embodiment of a time synchronization method based on a sensor time synchronization system of the present application;

3 is a schematic flowchart of a second embodiment of a time synchronization method based on a sensor time synchronization system of the present application;

4 is a schematic flowchart of a third embodiment of a time synchronization method based on a sensor time synchronization system of the present application;

5 is a schematic flowchart of a fourth embodiment of a time synchronization method based on a sensor time synchronization system of the present application;

6 is a schematic flowchart of a fifth embodiment of a time synchronization method based on a sensor time synchronization system of the present application;

7 is a schematic flowchart of a sixth embodiment of a time synchronization method based on a sensor time synchronization system of the present application;

8 is a schematic flowchart of a seventh embodiment of a time synchronization method based on a sensor time synchronization system of the present application;

9 is a schematic flowchart of an eighth embodiment of a time synchronization method based on a sensor time synchronization system of the present application;

10 is a schematic structural diagram of an embodiment of a computer storage medium of the present application;

FIG. 11 is a schematic structural diagram of an embodiment of a computer apparatus of the present application.

Detailed ways

In order to make the objectives, technical solutions and effects of the present application clearer and clearer, the present application will be further described in detail below with reference to the accompanying drawings and examples.

As shown in FIG. 1 , the sensor time synchronization system of the embodiment of the present application includes a broadcast node 10, a reference node 20, and two or more sub-nodes 30, wherein the reference node 20 is used to provide a reference time for the time synchronization system, and the sub-nodes 30 include sensor. The sensors in the embodiments of the present application are wireless sensors, and the number of sub-nodes 30 in the embodiments of the present application may be two, three, four, or more than five. For example, in the embodiments of the present application, the sub-nodes 30 include the first The child node 31 , the second child node 32 , the third child node 33 , the fourth child node 34 , and the nth child node 35 , the sensor in the embodiment of the present application belongs to a distributed system. The reference node 20 in the embodiment of the present application is used as the reference clock source of the entire distributed system, and the local clock of the reference node 20 is calibrated in the form of an RTC (Real Time Clock, real-time clock) chip. In other embodiments, NTP or PTP can also be used. The protocol enables the reference node 20 to maintain time synchronization with the external network. In the embodiment of this application, the reference node 20 is a gateway, and the reference node 20 is a long-term power supply device; in other embodiments, the reference node 20 can also be a sensor, which can be powered for a long time. sensor. In the embodiment of the present application, the sub-node 30 is a wireless sensor, the sub-node 30 does not have an RTC chip, and cannot maintain time synchronization with the external network through the NTP or PTP protocol. The wireless sensor of the sub-node 30 has a data collection function and only performs sensing Information exchange of data, power supply for low-power batteries. The broadcast node 10 in the embodiment of the present application may be a gateway-type long power supply device, or may be a wireless sensor.

In the first embodiment of the present application, as shown in FIG. 2 , a time synchronization method based on a sensor time synchronization system specifically includes:

Step 110: The broadcast node sends a first time synchronization signal to the reference node and the child nodes.

In this embodiment of the present application, the first time synchronization signal includes the first reference time.

In the embodiment of the present application, in the process that the broadcast node sends the first time synchronization signal to the reference node and the sub-nodes, there is a sending time and an access time. Specifically, the sending time is the sending time of the broadcasting node, and the broadcasting node sends through the radio frequency circuit, and The time it takes for the speed of light to propagate to the reference node or child node; the access time is when the reference node or child node receives the first time synchronization signal and other signals, the first time synchronization signal at this time is an analog signal, and the reference node or child node After receiving the analog signal, it is converted into a digital signal, stored in a register, and the digital signal is read from the register.

In the embodiment of the present application, when the broadcast node sends the first time synchronization signal to the reference node or multiple sub-nodes, there is a difference between the sending time and the access time.

Step 120: After receiving the first time synchronization signal, the reference node sends a second time synchronization signal to the child node.

In the embodiment of the present application, the second time synchronization signal includes the operation relationship of the second local time, including the reference time.

In the embodiment of the present application, when the reference node sends the second time synchronization signal to multiple sub-nodes, there are also differences in the sending time and the access time of the multiple sub-nodes receiving the second time synchronization signal;

There is also a difference between the sending time and the access time of the first time synchronization signal sent by the broadcast node to the child node and the second time synchronization signal sent by the reference node to the child node.

Step 130: The child node adjusts the local time according to the received first time synchronization signal and the second time synchronization signal, so that the local time of the child node is synchronized with the reference time.

In this embodiment of the present application, after receiving the first time synchronization signal and the second time synchronization signal, the local time of the child node can be calculated and adjusted so that the local time of the child node is the same as the reference time of the reference node, so that multiple child nodes The local time between nodes is the same, and the effect of the sensor time synchronization of the child nodes is realized.

The time synchronization method based on the sensor time synchronization system according to the embodiment of the present application realizes the time synchronization of multiple sub-nodes by receiving two broadcast time synchronization signals, reduces the number of packets and reduces energy consumption, and can be applied to low-power wireless sensors The time synchronization method of the embodiment of the present application receives the time synchronization signal by means of unidirectional broadcasting, does not depend on the consistency of uplink and downlink delays, eliminates the time synchronization error introduced by the sending time and the access time, and can better To cope with complex wireless environments, improve the accuracy of time synchronization.

In the second embodiment of the present application, as shown in FIG. 3 , the embodiment of the present application provides a time synchronization method based on a sensor time synchronization system, and the method includes:

Step 210: The child node receives the first time synchronization signal sent by the broadcast node.

In the embodiment of the present application, two or more sub-nodes respectively receive the first time synchronization signal sent by the broadcast node, and there is a certain difference in the local time when the two or more sub-nodes receive the first time synchronization signal sent by the broadcast node. Received at the same time, but received in sequence, so that there is a certain difference in the local time; or because there is no RTC chip in the child node, it is impossible to maintain time synchronization with the external network through the NTP or PTP protocol, and the local clock of the wireless sensor of the child node may exist. The local clocks of the wireless sensors of each sub-node are different due to frequency offset and temperature drift.

In this embodiment of the present application, the broadcast node may send the first time synchronization signal to the child node, and the child node may receive the first time synchronization signal sent by the broadcast node.

Step 220: The child node receives a second time synchronization signal, where the second time synchronization signal is a signal sent by the reference node after receiving the first time synchronization signal sent by the broadcast node.

In this embodiment of the present application, the child node receives the second time synchronization signal broadcast by the reference node, wherein the second time synchronization signal broadcast by the reference node includes the second local time at which the reference node receives the first time synchronization signal, so that the child node receives the second time synchronization signal. The second time synchronization signal includes the operational relationship of the second local time, including the reference time.

Step 230: The child node adjusts the local time according to the first time synchronization signal and the second time synchronization signal, so that the local time of the child node is synchronized with the reference time.

In the embodiment of the present application, after receiving the first time synchronization signal and the second time synchronization signal, the child node calculates and adjusts the local time of the child node, so that the local time of the child node is the same as the reference time of the reference node, so that more The local time between the child nodes is the same, and the effect of the sensor time synchronization of the child nodes is realized.

The time synchronization method based on the sensor time synchronization system according to the embodiment of the present application realizes the time synchronization of multiple sub-nodes by receiving two broadcast time synchronization signals, reduces the number of packets and reduces energy consumption, and can be applied to low-power wireless sensors The time synchronization method of the embodiment of the present application receives the time synchronization signal by means of unidirectional broadcasting, does not depend on the consistency of uplink and downlink delays, eliminates the time synchronization error introduced by the sending time and the access time, and can better To cope with complex wireless environments, improve the accuracy of time synchronization.

As shown in FIG. 4 , in the third embodiment of the present application, a time synchronization method based on a sensor time synchronization system includes:

Step 310: The child node receives the first time synchronization signal sent by the broadcast node, and records the first local time when the first time synchronization signal is received, where the first time synchronization signal includes the first reference time.

In the embodiment of the present application, since the RTC chip is not set in the sub-node, and the time synchronization cannot be maintained with the external network through the NTP or PTP protocol, and the local clock of the wireless sensor of the sub-node may have frequency offset and temperature drift caused by each sub-node. The local clocks of the wireless sensors are different; or in the embodiment of the present application, two or more sub-nodes respectively receive the first time synchronization signal sent by the broadcast node, and two or more sub-nodes receive the local time synchronization signal of the first time synchronization signal sent by the broadcast node. There is a certain difference in time. For example, the received signals are not received at the same time, but are received in sequence, so that there is a certain difference in the local time.

In the embodiment of the present application, the broadcast node sends the first time synchronization signal to the child node, the first time synchronization signal includes the first reference time T ₀ , the child node can receive the first time synchronization signal sent by the broadcast node, and record the received first time synchronization signal. The first local time of a time synchronization signal, for example, there are n child nodes, where n is a positive integer greater than or equal to 2, which are the first child node, the second child node, the third child node, the fourth child node, ..., the nth child node, the first local time at which each child node receives the first time synchronization signal is T ₁ , T ₂ , T ₃ , T ₄ , ..., T _n respectively .

Step 320: the child node receives a second time synchronization signal, where the second time synchronization signal is a signal sent by the reference node after receiving the first time synchronization signal sent by the broadcast node, and the second time synchronization signal includes the first time difference value, The first time difference is the difference between the second local time and the first reference time when the reference node receives the first time synchronization signal sent by the broadcast node.

In this embodiment of the present application, the broadcast node sends the first time synchronization signal to the reference node while sending the first time synchronization signal to the child node, so that both the child node and the reference node can receive the first time synchronization signal sent by the broadcast node. signal, wherein, when the reference node receives the first time synchronization signal, it records the second local time T _j when the first time synchronization signal is received, and the reference node records the second local time T j according to the second local time T _j and the first reference time T ₀ , The first time difference value δ _j is calculated, and the first time difference value is the difference between the second local time and the first reference time, that is, δ _j =T _j -T ₀ ; that is, the child node receives the first time sent by the reference node. A time difference δ _j .

Step 330: The child node adjusts the first local time according to the first time difference, so that the local time of the child node is synchronized with the reference time.

In this embodiment of the present application, the first sub-node, the second sub-node, the third sub-node, the fourth sub-node, ..., the n-th sub-node respectively receive the first local time synchronization signal The time _is T ₁ , T ₂ , T ₃ , T ₄ , . Specifically, the second time difference value δn is the difference between the first local time and the first reference time, that is, the second time difference value of the child node δn=T _n −T ₀ ; The second time difference value of the second child node, the third child node, the fourth child node, ..., the nth child node δ ₁ =T ₁ -T ₀ , δ ₂ =T ₂ -T ₀ , δ ₃ =T ₃ -T ₀ , δ ₄ =T ₃ -T ₀ ,..., δn=T _n -T ₀ ; in the embodiment of the present application, according to the first time difference value and the second time difference value Adjust the first local time of the child node, so that the local time of the child node is synchronized with the reference time, and is synchronized with the reference time of the reference node; The difference between the two time difference values is Δ ₁ =δ ₁ -δ _j , the difference between the first time difference value and the second time difference value of the second child node is Δ ₂ =δ ₂ -δ _j , and the first time difference value of the third child node is Δ 2 =δ 2 -δ j . The difference between the first time difference value and the second time difference value is Δ ₃ =δ ₃ -δ _j , the difference between the first time difference value and the second time difference value of the fourth child node is Δ ₄ =δ ₄ -δ _j , ......, the difference between the first time difference value and the second time difference value of the nth child node is Δ _n =δ _n -δ _j . In this embodiment of the present application, the first local time of the child node is adjusted according to the first time difference and the second time difference, that is, the first local time is subtracted from the difference between the first time difference and the second time difference, so that the adjustment The local time of the child node after adjustment is the same as the reference time, that is, the local time of the adjusted child node is T _n '=T _n -Δ _n , specifically, the adjusted local time of the first child node T ₁ '=T ₁ -Δ ₁ , the adjusted local time of the second child node T ₂ '=T ₂ -Δ ₂ , the adjusted local time of the third child node T ₃ '=T ₃ -Δ ₃ , the adjusted local time of the third child node The adjusted local time T ₄ ′=T ₄ −Δ ₄ , . . . , the adjusted local time of the nth child node Tn′=T _n −Δ _n .

Wherein, T ₁ '=T ₁ -Δ ₁ =T ₁ -(δ ₁ -δ _j )=T ₁ -[(T ₁ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₂ '=T ₂ -Δ ₂ =T ₂ -(δ ₂ -δ _j )=T ₂ -[(T ₂ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₃ ′=T ₃ -Δ ₃ =T ₃ -(δ ₃ -δ _j )=T ₃ -[(T ₃ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₄ ′=T ₄ -Δ ₄ =T ₄ -(δ ₄ -δ _j )=T ₄ -[(T ₄ -T ₀ )-(T _j -T ₀ )]=T _j ;

......

Tn'=Tn- _{Δn = Tn-} ( _{δn -} δj)=Tn _- [(Tn _{- T0} )-(Tj- _T0 )] _{= Tj} .

That is, in this embodiment of the present application, the local time of each child node can be synchronized with the reference time of the reference node through the above method.

As shown in FIG. 5 , in the fourth embodiment of the present application, a time synchronization method based on a sensor time synchronization system includes:

Step 410: The child node receives the first time synchronization signal periodically sent by the broadcast node, and records the first local time when the first time synchronization signal is received, where the first time synchronization signal includes a first reference time and a time synchronization period.

In the embodiment of the present application, since the RTC chip is not set in the sub-node, and the time synchronization cannot be maintained with the external network through the NTP or PTP protocol, and the local clock of the wireless sensor of the sub-node may have frequency offset and temperature drift caused by each sub-node. There is a difference in the local clocks of the wireless sensors; or in the embodiment of the present application, two or more sub-nodes respectively receive the first time synchronization signal periodically sent by the broadcast node, and two or more sub-nodes receive the first time synchronization signal sent by the broadcast node. There is a certain difference in the local time. For example, the received signals are not received at the same time, but are received in sequence, so that there is a certain difference in the local time.

In the embodiment of the present application, the broadcasting node periodically sends the first time synchronization signal to the child nodes, and the first reference time of the first time synchronization signal is represented by Time. In the embodiment of the present application, Time=T ₀ ; The time synchronization period is represented by Cycle, which is used to mark the basic period to which the current time synchronization signal belongs. In this embodiment of the present application, the broadcast node periodically sends the first time synchronization signal, so that the local time of the sub-nodes can be synchronized regularly, so that the local time of multiple sub-nodes is synchronized. By sending the first time synchronization signal regularly by the broadcast node, the child node can receive the first time synchronization signal regularly, and adjust the first time synchronization signal regularly, so as to ensure that the local time of the child node is in a synchronized state for a long time.

In this embodiment of the present application, the child node may receive the first time synchronization signal sent by the broadcast node, and record the first local time when the first time synchronization signal is received. For example, there are n child nodes, where n is greater than or equal to 2 Positive integers, respectively the first child node, the second child node, the third child node, the fourth child node, ..., the nth child node, each child node receives the first time synchronization signal of the first time synchronization signal. The local times are T ₁ , T ₂ , T ₃ , T ₄ , . . . , T _n , respectively.

Step 420: The child node receives a second time synchronization signal, where the second time synchronization signal is a signal sent by the reference node after receiving the first time synchronization signal sent by the broadcast node, and the second time synchronization signal includes the first time difference value and In the time synchronization period, the first time difference is the difference between the second local time and the first reference time when the reference node receives the first time synchronization signal sent by the broadcast node.

In this embodiment of the present application, the time synchronization period of the second time synchronization signal is the same as the first time synchronization period sent by the broadcast node.

In this embodiment of the present application, the broadcast node sends the first time synchronization signal to the reference node while sending the first time synchronization signal to the child node, so that both the child node and the reference node can receive the first time synchronization signal sent by the broadcast node. signal, wherein, when the reference node receives the first time synchronization signal, it records the second local time T _j when the first time synchronization signal is received, and the reference node records the second local time T j according to the second local time T _j and the first reference time T ₀ , The first time difference value δ _j is calculated, and the first time difference value is the difference between the second local time and the first reference time, that is, δ _j =T _j -T ₀ ; that is, the child node receives the data sent by the reference node. The first time difference δ _j .

Step 421: According to the time synchronization period, determine that the first time synchronization signal and the second time synchronization signal belong to the same period.

In this embodiment of the present application, judging whether the time period in the first time synchronization signal and the time synchronization period in the second time synchronization signal are the same period, it can be determined whether the first time synchronization signal and the second time synchronization signal belong to the same period, Only when the time period in the first time synchronization signal and the time synchronization period in the second time synchronization signal are the same period, it can be determined that the first time synchronization signal and the second time synchronization signal belong to the same period. Step 330 can be performed only with the first time synchronization signal and the second time synchronization signal.

Step 430: The child node adjusts the first local time according to the first time difference, so that the local time of the child node is synchronized with the reference time.

In this embodiment of the present application, the first sub-node, the second sub-node, the third sub-node, the fourth sub-node, ..., the n-th sub-node respectively receive the first local time synchronization signal The time _is T ₁ , T ₂ , T ₃ , T ₄ , . Specifically, the second time difference value δn is the difference between the first local time and the first reference time, that is, the second time difference value of the child node δn=T _n −T ₀ ; The second time difference value of the second child node, the third child node, the fourth child node, ..., the nth child node δ ₁ =T ₁ -T ₀ , δ ₂ =T ₂ -T ₀ , δ ₃ =T ₃ -T ₀ , δ ₄ =T ₃ -T ₀ ,..., δn=T _n -T ₀ ; in the embodiment of the present application, according to the first time difference value and the second time difference value Adjust the first local time of the child node so that the local time of the child node is synchronized with the reference time; specifically, in the embodiment of the present application, the difference between the first time difference value and the second time difference value of the first child node is Δ ₁ =δ ₁ -δ _j , the difference between the first time difference and the second time difference of the second child node is Δ ₂ =δ ₂ -δ _j , the first time difference and the second time difference of the third child node The difference between the values is Δ ₃ =δ ₃ -δ _j , and the difference between the first time difference and the second time difference of the fourth child node is Δ ₄ =δ ₄ -δ _j , . . . , the nth The difference between the first time difference value and the second time difference value of the child node is Δ _n =δ _n -δ _j . In this embodiment of the present application, the first local time of the child node is adjusted according to the difference between the first time difference and the second time difference, that is, the first local time is subtracted from the difference between the first time difference and the second time difference, Make the local time of the adjusted child node the same as the reference time, that is, the adjusted local time of the child node is T _n '=T _n -Δ _n , specifically, the adjusted local time T ₁ ' of the first child node =T ₁ -Δ ₁ , the adjusted local time of the second child node T ₂ '=T ₂ -Δ ₂ , the adjusted local time of the third child node T ₃ '=T ₃ -Δ ₃ , the third child The adjusted local time of the node T ₄ ′=T ₄ −Δ ₄ , . . . , the adjusted local time of the nth child node Tn′=T _n −Δ _n .

Wherein, T ₁ '=T ₁ -Δ ₁ =T ₁ -(δ ₁ -δ _j )=T ₁ -[(T ₁ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₂ '=T ₂ -Δ ₂ =T ₂ -(δ ₂ -δ _j )=T ₂ -[(T ₂ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₃ ′=T ₃ -Δ ₃ =T ₃ -(δ ₃ -δ _j )=T ₃ -[(T ₃ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₄ ′=T ₄ -Δ ₄ =T ₄ -(δ ₄ -δ _j )=T ₄ -[(T ₄ -T ₀ )-(T _j -T ₀ )]=T _j ;

......

Tn'=Tn- _{Δn = Tn-} ( _{δn -} δj)=Tn _- [(Tn _{- T0} )-(Tj- _T0 )] _{= Tj} .

That is, in this embodiment of the present application, the local time of each child node can be synchronized with the reference time of the reference node through the above method.

As shown in FIG. 6 , in the fifth embodiment of the present application, a time synchronization method based on a sensor time synchronization system includes:

Step 510: The child node receives the first time synchronization signal periodically sent by the broadcast node, and records the first local time when the first time synchronization signal is received, wherein the first time synchronization signal includes the first reference time, the time synchronization period, the time Synchronization indications, time synchronization domains, and functional roles.

In the embodiment of the present application, since the RTC chip is not set in the sub-node, and the time synchronization cannot be maintained with the external network through the NTP or PTP protocol, and the local clock of the wireless sensor of the sub-node may have frequency offset and temperature drift caused by each sub-node. There is a difference in the local clocks of the wireless sensors; or in the embodiment of the present application, two or more sub-nodes respectively receive the first time synchronization signal periodically sent by the broadcast node, and two or more sub-nodes receive the first time synchronization signal sent by the broadcast node. There is a certain difference in the local time. For example, the received signals are not received at the same time, but are received in sequence, so that there is a certain difference in the local time.

In the embodiment of the present application, the broadcast node periodically sends a first time synchronization signal to the child nodes, and the first time synchronization signal includes a first reference time Time, a time synchronization period Cycle, a time synchronization indication Flag, a time synchronization domain Domain, and a functional role Role, In other embodiments, the first time synchronization signal may further include a physical address Mac_Address.

Among them, the time synchronization indication Flag is used to indicate that the first time synchronization signal is used for time synchronization; the time synchronization cycle Cycle is used to mark the basic cycle to which the current time synchronization belongs; the time synchronization domain Domain is used in the same synchronization domain. Only the child nodes can perform time synchronization; the functional role Role is used to distinguish the broadcast node from the reference node; in other embodiments, the physical address Mac_Address is used to identify the device address in the network. The first reference time Time is the first local time of the first time synchronization signal, and it is assumed that the first time synchronization signal Time=T ₀ for the first time.

In this embodiment of the present application, the child node may receive the first time synchronization signal sent by the broadcast node, and record the first local time when the first time synchronization signal is received. For example, there are n child nodes, where n is greater than or equal to 2 Positive integers, respectively the first child node, the second child node, the third child node, the fourth child node, ..., the nth child node, each child node receives the first time synchronization signal of the first time synchronization signal. The local times are T ₁ , T ₂ , T ₃ , T ₄ , . . . , T _n , respectively.

Step 520: The child node receives a second time synchronization signal, where the second time synchronization signal is a signal sent by the reference node after receiving the first time synchronization signal sent by the broadcast node, and the second time synchronization signal includes the first time difference value, Time synchronization period, time synchronization indication, time synchronization domain and functional role, the first time difference is the difference between the second local time and the first reference time when the reference node receives the first time synchronization signal sent by the broadcast node.

The reference node sends a second time synchronization signal to the child node, where the second time synchronization signal includes a first time difference value Time_Difference, a time synchronization period Cycle, a time synchronization indication Flag, a time synchronization domain Domain, and a functional role Role. In other embodiments, The second time synchronization signal may also include a physical address Mac_Address.

In this embodiment of the present application, the time synchronization indication Flag of the second time synchronization signal is used to indicate that the second time synchronization signal is used for time synchronization; the time synchronization cycle Cycle of the second time synchronization signal, the time synchronization domain Domain and the received broadcast The first time synchronization cycle Cycle and time synchronization domain Domain sent by the node are the same. The functional role Role represents that the signal is emitted by the base node.

In this embodiment of the present application, the broadcast node sends the first time synchronization signal to the reference node while sending the first time synchronization signal to the child node, so that both the child node and the reference node can receive the first time synchronization signal sent by the broadcast node. signal, wherein, when the reference node receives the first time synchronization signal, it records the second local time T _j when the first time synchronization signal is received, and the reference node records the second local time T j according to the second local time T _j and the first reference time T ₀ , The first time difference value δ _j is calculated, and the first time difference value Time_Difference is the difference between the second local time and the first reference time, that is, δ _j =T _j -T ₀ ; that is, the child node receives the transmission from the reference node. The first time difference δ _j of .

Step 521: Determine the first time synchronization signal and the second time synchronization signal as synchronization signals according to the time synchronization instruction, the time synchronization period, the time synchronization domain and the functional role.

In this embodiment of the present application, the time synchronization indication is used to indicate that the signal is used for time synchronization, and only when the first time synchronization signal and the second time synchronization signal are synchronization signals, that is, the first time synchronization signal and the second time synchronization signal can be used for in time synchronization.

Determine whether the time period in the first time synchronization signal and the time synchronization period in the second time synchronization signal are the same period; determine whether the time synchronization field in the first time synchronization signal and the time synchronization field in the second time synchronization signal are the same ; determine whether the functional role of the first time synchronization signal represents that the signal is sent by the broadcast node, and determine whether the functional role of the second time synchronization signal represents that the signal is sent by the reference node. Therefore, it can be determined that the signals received by the child node are the first time synchronization signal and the second time synchronization signal. When it is determined that the first time synchronization signal and the second time synchronization signal belong to the same period, the first time synchronization signal and the second time synchronization signal When the time synchronization domains of the signals are the same, the first time synchronization signal and the second time synchronization signal are synchronization signals and can be used for time synchronization, and then step 530 can be executed.

Step 530: The child node adjusts the first local time according to the first time difference, so that the local time of the child node is synchronized with the reference time.

In this embodiment of the present application, the first sub-node, the second sub-node, the third sub-node, the fourth sub-node, ..., the n-th sub-node respectively receive the first local time synchronization signal The time _is T ₁ , T ₂ , T ₃ , T ₄ , . Specifically, the second time difference value δn is the difference between the first local time and the first reference time, that is, the second time difference value of the child node δn=T _n −T ₀ ; The second time difference value of the second child node, the third child node, the fourth child node...the nth child node δ ₁ =T ₁ -T ₀ , δ ₂ =T ₂ -T ₀ , δ ₃ = T ₃ -T ₀ , δ ₄ =T ₃ -T ₀ ,..., δn=T _n -T ₀ ; in this embodiment of the present application, the The first local time of the node, so that the local times of multiple child nodes are synchronized and synchronized with the reference time of the reference node; specifically, in the embodiment of the present application, the first time difference value and the second time difference value of the first child node are The difference is Δ ₁ =δ ₁ -δ _j , the difference between the first time difference value of the second child node and the second time difference value is Δ ₂ =δ ₂ -δ _j , the first time difference value of the third child node The difference between the time difference and the second time difference is Δ ₃ =δ ₃ -δ _j , and the difference between the first time difference and the second time difference of the fourth child node is Δ ₄ =δ ₄ -δ _j , . . . .., the difference between the first time difference value and the second time difference value of the nth child node is Δ _n =δ _n −δ _j . In this embodiment of the present application, the first local time of the child node is adjusted according to the first time difference value and the second time difference value, so that the adjusted local time T _n ′=T _n −Δ _n . Specifically, the first child node The adjusted local time T ₁ '=T ₁ -Δ ₁ , the adjusted local time of the second child node T ₂ '=T ₂ -Δ ₂ , the adjusted local time of the third child node T ₃ '= T ₃ −Δ ₃ , the adjusted local time of the third child node T ₄ ′=T ₄ −Δ ₄ , . . . , the adjusted local time of the nth child node Tn′=T _n −Δ _n .

Wherein, T ₁ '=T ₁ -Δ ₁ =T ₁ -(δ ₁ -δ _j )=T ₁ -[(T ₁ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₂ '=T ₂ -Δ ₂ =T ₂ -(δ ₂ -δ _j )=T ₂ -[(T ₂ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₃ ′=T ₃ -Δ ₃ =T ₃ -(δ ₃ -δ _j )=T ₃ -[(T ₃ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₄ ′=T ₄ -Δ ₄ =T ₄ -(δ ₄ -δ _j )=T ₄ -[(T ₄ -T ₀ )-(T _j -T ₀ )]=T _j ;

......

Tn'=Tn- _{Δn = Tn-} ( _{δn -} δj)=Tn _- [(Tn _{- T0} )-(Tj- _T0 )] _{= Tj} .

That is, in this embodiment of the present application, the local time of each child node can be synchronized with the reference time of the reference node through the above method.

In this embodiment of the present application, the first time synchronization signal and the second time synchronization signal are determined as synchronization signals according to the time synchronization instruction, the time synchronization period, the time synchronization domain, and the functional role, and whether the signal received by the child node can be used for time is determined. Synchronization, avoiding or reducing the occurrence of errors, the embodiment of the present application realizes the time synchronization of multiple sub-nodes by receiving two broadcast time synchronization signals, reduces the number of messages and reduces energy consumption, and can be applied to low-power wireless sensors; The time synchronization method of the application embodiment receives the time synchronization signal by means of unidirectional broadcasting, does not depend on the consistency of uplink and downlink delays, eliminates the time synchronization error introduced by the transmission time and the access time, and can better cope with complex wireless environment, improve the accuracy of time synchronization.

As shown in FIG. 7 , the sixth embodiment of the present application provides a time synchronization method based on a sensor time synchronization system, including:

Step 610: The reference node receives the first time synchronization signal sent by the broadcast node.

In the embodiment of the present application, the broadcast node sends the first time synchronization signal to the reference node and the child nodes simultaneously, so that the reference node can receive the first time synchronization signal sent by the broadcast node, and the first time synchronization signal is used for time synchronization.

Step 620: The reference node sends a second time synchronization signal to the child node, so that the child node adjusts the local time of the child node according to the first time synchronization signal and the second time synchronization signal, so that the local time of the child node is the same as the reference time, wherein , the child node receives the first time synchronization signal sent by the broadcast node.

In the embodiment of the present application, after receiving the first time synchronization signal, the reference node sends a second time synchronization signal to the child node, wherein the second time synchronization signal includes the operation relationship of the second local time of the reference node.

After the child node receives the second time synchronization signal sent by the reference node and the first time synchronization signal sent by the broadcast node, it calculates and adjusts the local time of the child node, so that the local time of the child node is the same as the reference time of the reference node, so that The local time between multiple child nodes is the same, and the effect of the sensor time synchronization of the child nodes is realized.

The time synchronization method based on the sensor time synchronization system according to the embodiment of the present application realizes the time synchronization of multiple sub-nodes by receiving two broadcast time synchronization signals, reduces the number of packets and reduces energy consumption, and can be applied to low-power wireless sensors The time synchronization method of the embodiment of the present application receives the time synchronization signal by means of unidirectional broadcasting, does not depend on the consistency of uplink and downlink delays, eliminates the time synchronization error introduced by the sending time and the access time, and can better To cope with complex wireless environments, improve the accuracy of time synchronization.

As shown in FIG. 8 , in the seventh embodiment of the present application, based on the time synchronization method of the sensor time synchronization system, in the embodiment of the present application, the first time synchronization signal includes the first reference time, and the method includes:

Step 710: The reference node receives the first time synchronization signal sent by the broadcast node, records the second local time when the first time synchronization signal is received, and calculates the first time difference according to the second local time and the first reference time.

In the embodiment of the present application, the broadcast node sends the first time synchronization signal to the reference node, so that the reference node receives the first time synchronization signal sent by the broadcast node. The first time synchronization signal includes the first reference time T ₀ , and the reference node receives the first time synchronization signal. When the first time synchronization signal is reached, record the second local time T _j when the first time synchronization signal is received, and the reference node calculates the first time difference δ according to the second local time T _j and the first reference time T _{0 j} , the first time difference is the difference between the second local time and the first reference time, that is, δ _j =T _j −T ₀ .

Step 720: The reference node sends the second time synchronization signal to the child node, and records the first local time of receiving the first time synchronization signal, so that the child node adjusts the first local time of the child node according to the first local time and the first time difference. time, so that the local times of multiple child nodes are the same; wherein, the child nodes receive the first time synchronization signal sent by the broadcast node.

In this embodiment of the present application, the broadcast node sends the first time synchronization signal to the reference node, and also sends the first time synchronization signal to the child node. The first time synchronization signal includes the first reference time T0, so that the child node receives the transmission from the broadcast node. and record the first local time when the first time synchronization signal is received. For example, there are n child nodes, where n is a positive integer greater than or equal to 2, which are the first child node and the second child node respectively. node, the third child node, the fourth child node, ..., the nth child node, the first local time at which each child node receives the first time synchronization signal is T ₁ , T ₂ , T ₃ , T ₄ , ..., T _n .

In this embodiment of the present application, after receiving the first time synchronization signal, the reference node sends the second time synchronization signal to the child node. The second time synchronization signal includes the first time difference value δ _j .

In this embodiment of the present application, the child node calculates the second time difference according to the first local time and the first reference time; specifically, the second time difference δn is the difference between the first local time and the first reference time, That is, the second time difference value of the child node δn=T _n -T ₀ ; specifically, the first child node, the second child node, the third child node, the fourth child node, ..., the nth child The second time difference values of the nodes δ ₁ =T ₁ -T ₀ , δ ₂ =T ₂ -T ₀ , δ ₃ =T ₃ -T ₀ , δ ₄ =T ₃ -T ₀ ,..., δ _n =T _n -T ₀ ; in this embodiment of the present application, the child node is made to adjust the first local time of the child node according to the first time difference value and the second time difference value, so that the local times of the multiple child nodes are synchronized and are The reference time of the reference node is synchronized; specifically, in this embodiment of the present application, the difference between the first time difference value and the second time difference value of the first child node is Δ ₁ =δ ₁ -δ _j , and the first time difference value of the second child node is Δ 1 =δ 1 -δ j , The difference between the first time difference value and the second time difference value is Δ ₂ =δ ₂ -δ _j , the difference between the first time difference value and the second time difference value of the third child node is Δ ₃ =δ ₃ -δ _j , The difference between the first time difference value and the second time difference value of the fourth child node is Δ ₄ =δ ₄ -δ _j , ......, the first time difference value and the second time difference value of the nth child node The difference in values _{is Δn =} δn - δj. In the embodiment of the present application, the first local time of the child node is adjusted according to the first time difference value and the second time difference value, so that the adjusted local time of the child node T _n ′=T _n −Δ _n , specifically, the first local time of the child node is adjusted. The adjusted first local time T ₁ '=T ₁ -Δ ₁ of a child node, the adjusted first local time T ₂ '=T ₂ -Δ ₂ of the second child node, the adjusted first local time of the third child node _The first local time T ₃ ′= _{T 3 -Δ 3} of After the first local time Tn'=Tn _{- Δn} .

Wherein, T ₁ '=T ₁ -Δ ₁ =T ₁ -(δ ₁ -δ _j )=T ₁ -[(T ₁ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₂ '=T ₂ -Δ ₂ =T ₂ -(δ ₂ -δ _j )=T ₂ -[(T ₂ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₃ ′=T ₃ -Δ ₃ =T ₃ -(δ ₃ -δ _j )=T ₃ -[(T ₃ -T ₀ )-(T _j -T ₀ )]=T _j ;

T ₄ ′=T ₄ -Δ ₄ =T ₄ -(δ ₄ -δ _j )=T ₄ -[(T ₄ -T ₀ )-(T _j -T ₀ )]=T _j ;

......

Tn'=Tn- _{Δn = Tn-} ( _{δn -} δj)=Tn _- [(Tn _{- T0} )-(Tj- _T0 )] _{= Tj} .

That is, in this embodiment of the present application, the local time of each child node can be synchronized with the reference time of the reference node through the above method.

In the eighth embodiment of the present application, as shown in FIG. 9 , based on the time synchronization method of the sensor time synchronization system, both the first time synchronization signal and the second time synchronization signal further include a time synchronization period,

Step 810: The reference node regularly receives the first time synchronization signal sent by the broadcast node, records the second local time when the first time synchronization signal is received, and calculates the first time difference according to the second local time and the first reference time.

In other embodiments, the reference node regularly receives the first time synchronization signal sent by the broadcast node, so that the child nodes can perform time synchronization regularly, so that the reference node can regularly receive the first time synchronization signal sent by the broadcast node. In the embodiment of the present application, the first time synchronization signal includes a time synchronization period, which can determine which basic period the first time synchronization signal belongs to, so as to avoid errors in selecting the first time synchronization signal during operation.

In this embodiment of the present application, when the reference node receives the first time synchronization signal, the reference node records the second local time when the first time synchronization signal is received, and obtains the first time difference by making a difference between the second local time and the first reference time value, so that the reference node includes the first time difference value when sending the second time synchronization signal.

Step 820: The reference node sends the second time synchronization signal to the child node, and records the first local time when the first time synchronization signal is received, so that the child node determines that the first time synchronization signal and the second time synchronization signal belong to each other according to the time synchronization period. In the same period, the child node adjusts the first local time of the child node according to the first local time and the first time difference, so that the local times of the multiple child nodes are the same.

In an embodiment of the present application, a time synchronization method based on a sensor time synchronization system includes: broadcasting a first time synchronization signal sent by a node to a reference node and child nodes, so that the reference node sends the first time synchronization signal when receiving the first time synchronization signal The second time synchronization signal is sent to the child node, further enabling the child node to adjust the local time according to the first time synchronization signal and the second time synchronization signal, so that the local time of the child node is synchronized with the reference time.

In an embodiment of the present application, a time synchronization method based on a sensor time synchronization system includes: broadcasting a first time synchronization signal sent by a node to a reference node and child nodes, so that the reference node is used for receiving the first time synchronization signal when the first time synchronization signal is received, record the first local time when the first time synchronization signal is received, calculate the first time difference according to the second local time and the first reference time, send the second time synchronization signal to the child node, and further make the child node according to the first time synchronization signal. The time difference value adjusts the first local time so that the first local time of the child node is synchronized with the reference time, wherein the first time synchronization signal includes the first reference time, and the second time synchronization signal includes the first time difference value.

In other embodiments, the first time synchronization signal may also include a first reference time, a time synchronization period, a time synchronization indication, a time synchronization domain, and a functional role. The second time synchronization signal includes a first time difference, a time synchronization period, a time synchronization indication, a time synchronization domain, and a functional role. In another embodiment, the first time synchronization signal and the second time synchronization signal may also include physical addresses.

The embodiment of the present application also includes a second technical solution, as shown in FIG. 10 , a computer storage medium 900, where a computer program 910 is stored inside the computer storage medium 900, and the computer program is used to be executed to realize the above-mentioned sensor-based time synchronization The system's time synchronization method.

Based on this understanding, the present application can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing the relevant hardware through the computer program 910. The computer program 910 can be stored in a computer-readable storage medium, and the computer When the program 910 is executed by the processor, the steps of the foregoing method embodiments can be implemented. The computer program 910 includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in computer-readable media may be appropriately increased or decreased in accordance with the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include Electrical carrier signals and telecommunication signals.

The present application also includes a third technical solution. As shown in FIG. 11, a computer device 1000 includes at least one processing unit 1010 and at least one storage unit 1020. The storage unit 1020 stores a computer program, and when the program is executed by the processing unit , so that the processing unit 1010 executes the steps of the above-mentioned time synchronization method based on the sensor time synchronization system.

The so-called processing unit 1010 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general processing unit 1010 can be a microprocessor or the processing unit 1010 can also be any conventional processor, etc. The processing unit 1010 is the control center for setting the display name of the parameter information item in the monitor, and uses various interfaces and lines to connect the whole system. The various equipment parts of the monitor.

The storage unit 1020 can be used to store computer programs and/or modules, and the processing unit 1010 realizes the parameters in the monitor by running or executing the computer programs and/or modules stored in the storage unit 1020 and calling the data stored in the storage unit 1020. Display name settings for information items. The storage unit 1020 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the mobile phone. In addition, the storage unit 1020 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) ) card, Flash Card, at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

Computer apparatus 1000 may also include a power supply assembly configured to perform power management of the computer device, a wired or wireless network interface configured to connect the device to a network, and an input output (I/O) interface. The device can operate based on an operating system stored in memory, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus implementations described above are only illustrative, for example, the division of modules or units is only a logical function division, and other divisions may be used in actual implementation, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this implementation manner.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or can be implemented in the form of software functional units.

The integrated unit, if implemented as a software functional unit and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the various embodiments of the present application.

The above are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied in other related technical fields, All are similarly included in the scope of patent protection of the present invention.

Industrial Applicability

The solutions provided by the embodiments of the present application can be applied to the technical field of sensor communication. In the embodiments of the present application, the time synchronization method, medium and device based on the sensor time synchronization system are adopted, so that the power consumption of the time synchronization is low, and the time can be improved. The technical effect of synchronization accuracy.

Claims (10)

1. A time synchronization method based on a sensor time synchronization system, the system includes a broadcast node, a reference node and two or more sub-nodes, wherein the reference node is used to provide a reference time for the time synchronization system, the sub-nodes Including a sensor, the method includes:

   receiving, by the child node, the first time synchronization signal sent by the broadcast node;

   the child node receives a second time synchronization signal, wherein the second time synchronization signal is a signal sent by the reference node after receiving the first time synchronization signal sent by the broadcast node;

   The child node adjusts the local time according to the first time synchronization signal and the second time synchronization signal, so that the local time of the child node is synchronized with the reference time.
2. The time synchronization method based on a sensor time synchronization system according to claim 1, wherein the first time synchronization signal includes a first reference time, and the second time synchronization signal includes a first time difference value,

   The child node receives the first time synchronization signal sent by the broadcast node, including:

   The child node receives the first time synchronization signal sent by the broadcast node, and records the first local time when the first time synchronization signal is received;

   Wherein, the first time difference is the difference between the second local time and the first reference time when the reference node receives the first time synchronization signal sent by the broadcast node;

   The child node adjusts the local time according to the first time synchronization signal and the second time synchronization signal, so that the local time of the child node is synchronized with the reference time, including:

   The child node adjusts the first local time according to the first time difference, so that the local time of the child node is synchronized with the reference time.
3. The time synchronization method based on a sensor time synchronization system according to claim 2, wherein the child node adjusts the first local time according to the first time difference, so that the local time of the child node is the same as the Base time synchronization, including:

   The child node calculates a second time difference according to the first local time and the first reference time;

   The local time of the child node is adjusted according to the first time difference value and the second time difference value, so that the local time of the child node is synchronized with the reference time.
4. The time synchronization method based on a sensor time synchronization system according to claim 2 or 3, wherein both the first time synchronization signal and the second time synchronization signal further comprise a time synchronization period,

   The child node receives the first time synchronization signal sent by the broadcast node, including:

   receiving, by the child node, a first time synchronization signal periodically sent by the broadcast node;

   Before the child node adjusts the first local time according to the first time difference, so that the local time of the child node is synchronized with the reference time, the steps include:

   According to the time synchronization period, it is determined that the first time synchronization signal and the second time synchronization signal belong to the same period.
5. The time synchronization method based on a sensor time synchronization system according to claim 4, wherein,

   Both the first time synchronization signal and the second time synchronization signal further include a time synchronization indication, a time synchronization domain and a functional role;

   The determining, according to the time synchronization period, that the first time synchronization signal and the second time synchronization signal belong to the same period, including:

   According to the time synchronization indication, the time synchronization period, the time synchronization domain and the functional role, the first time synchronization signal and the second time synchronization signal are determined as synchronization signals.
6. A time synchronization method based on a sensor time synchronization system, the system includes a broadcast node, a reference node and two or more sub-nodes, wherein the reference node is used to provide a reference time for the time synchronization system, the sub-nodes Including a sensor, the method includes:

   receiving, by the reference node, a first time synchronization signal sent by the broadcast node;

   The reference node sends a second time synchronization signal to the child node, so that the child node adjusts the local time of the child node according to the first time synchronization signal and the second time synchronization signal, so that the child node The local time of the child node is the same as the reference time, wherein the child node receives the first time synchronization signal sent by the broadcast node.
7. The time synchronization method based on a sensor time synchronization system according to claim 6, wherein the first time synchronization signal comprises a first reference time,

   The reference node receives the first time synchronization signal sent by the broadcast node, including:

   The reference node receives the first time synchronization signal sent by the broadcast node, records the second local time when the first time synchronization signal is received, and calculates the first time according to the second local time and the first reference time. time difference;

   The reference node sends a second time synchronization signal to the child node, so that the child node adjusts the local time of the child node according to the first time synchronization signal and the second time synchronization signal, so that the child node The local time of the child node is the same as the reference time, including:

   The reference node sends a second time synchronization signal to the child node, the second time synchronization signal includes the first time difference value, and records the first local time when the first time synchronization signal is received, so that all The child node adjusts the first local time of the child node according to the first local time and the first time difference, so that the local times of a plurality of the child nodes are the same.
8. The time synchronization method based on a sensor time synchronization system according to claim 7, wherein both the first time synchronization signal and the second time synchronization signal further comprise a time synchronization period,

   The reference node receives the first time synchronization signal sent by the broadcast node, including:

   The reference node regularly receives the first time synchronization signal sent by the broadcast node, records the second local time when the first time synchronization signal is received, and calculates the time synchronization according to the second local time and the first reference time. the first time difference;

   The reference node sends a second time synchronization signal to the child node, the second time synchronization signal includes the first time difference value, and records the first local time when the first time synchronization signal is received, so that all The child node adjusts the first local time of the child node according to the first local time and the first time difference, so that the local times of a plurality of the child nodes are the same, including:

   The reference node sends a second time synchronization signal to the child node, the second time synchronization signal includes the first time difference, and records the first local time when the first time synchronization signal is received, so that all The child node determines, according to the time synchronization period, that the first time synchronization signal and the second time synchronization signal belong to the same period, so that the child node determines, according to the first local time and the first time difference, The first local time of the child nodes is adjusted so that the local times of the multiple child nodes are the same.
9. A storage medium, wherein a computer program is stored in the storage medium, and the computer program is used to be executed to realize the time synchronization method based on the sensor time synchronization system of any one of claims 1-8.
10. A computer device, comprising at least one processing unit and at least one storage unit, the storage unit stores a computer program, when the program is executed by the processing unit, the processing unit is made to execute any one of claims 1-8. Steps of a time synchronization method based on a sensor time synchronization system.

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