Cooperative operation synchronization method and system of multi-node system
A multi-node and node technology, applied in transmission systems, digital transmission systems, electrical components, etc., can solve problems such as poor synchronization and coordination of multi-node systems, to ensure time and space synchronization accuracy, improve processing efficiency, and simplify data The effect of throughput
Active Publication Date: 2020-10-09
涵涡智航科技(玉溪)有限公司
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Problems solved by technology
[0006] Aiming at the problems existing in the above-mentioned prior art, the present invention discloses a multi-node system collaborative operation synchronization method and system, which solves the problem of poor synchronization and coordination of the multi-node system in the prior art, and improves the performance of the multi-node system. Time synchronization, which enhances the multi-node synchronous cooperation ability and also improves the adaptability of the system environment
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[0051] In this example, five pesticide spraying drones cooperate to spray pesticides on the farmland:
[0052] combine figure 1 As shown, a multi-node system collaborative operation synchronization method disclosed in this embodiment includes the following steps:
[0053] S01. The master control node is in A 1 Send a synchronization message (Sync) message to one of the UAV operation nodes at all times;
[0054] S02. The UAV operation node is in A 2 A synchronization message (Sync) message is received, and in A 3 Send back a delay measurement request (Delay_Req) message to the master control node at all times to indicate that the device is online;
[0055] S03. The master control node is in A 4 Receive delay measurement request (Delay_Req) message at any time;
[0056] S04. The master control node according to A 1 、A 2 、A 3 、A 4 The time error between the main control node and the UAV operation node calculated at four moments is:
[0057] d=[(A 2 -A 1 )+(A 4 -...
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The invention relates to a collaborative operation synchronization method and system of a multi-node system. The collaborative operation synchronization method comprises the following steps of: calculating an average time error of a master control node to all operation nodes in the system and a discrete degree of the corresponding time error; calculating the overall time error of the system according to the average time error of all the operation nodes and the dispersion degree of the corresponding time error; and issuing a task in advance by means of the master control node according to the overall time error. The system adopts a centralized mode and a distributed mode which are combined, solves the problem that a multi-node system is poor in synchronism and coordination in the prior art,improves the time synchronism of the multi-node system, enhances the multi-node synchronous cooperation capacity, and further improves the system environment adaptability.
Description
technical field [0001] The invention relates to the technical field of multi-node system cooperative operation, in particular to a multi-node system cooperative operation synchronization method and system. Background technique [0002] For the collaborative operation of multi-node systems, whether it is unmanned aerial vehicles, unmanned ships, unmanned vehicles, or other unmanned platforms, there are two main difficulties, one is the time error synchronization of control commands, and the other is multi-node Selection of node cooperation model. [0003] For the time error synchronization of control commands, the existing technology only considers the time synchronization, but ignores the space synchronization. Chinese patent document CN103889046B discloses a time synchronization method for underwater sensor networks, which uses standard time nodes and The collision of the data packet sent by the node to be synchronized at the receiving end of the node to be synchronized de...
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IPC IPC(8): H04L12/24H04L29/08
CPCH04L41/0823H04L41/042H04L67/1095H04L67/1097H04L67/1001H04L41/0661
Inventor 张圣超
Owner 涵涡智航科技(玉溪)有限公司