A low-latency data synchronization acquisition system and method

Abstract

The present application discloses a low-latency data synchronization acquisition system and method, which includes multiple unit data acquisition modules, a data collection module, and a data synchronization module: the unit data acquisition module is used to collect sensor signals in real time to obtain collected data; time information is determined based on Beidou satellite signals, and a timestamp is added to the collected data according to the time information to obtain time calibration data; the time calibration data is preprocessed and packaged data is obtained according to a preset communication protocol; the data collection module is used to receive multiple channels of packaged data and obtain aggregated data based on the multiple channels of packaged data; the data synchronization module is used to receive the aggregated data sent by the data collection module, arrange and align the aggregated data according to the time axis, and obtain synchronized and aligned data. The present invention uses the unit data acquisition module to accurately calibrate the time based on Beidou satellite signals, and adds a timestamp to each sampled data, thereby achieving high-precision synchronization at the sensor signal sampling level.

Description

Technical Field

[0001] The present invention relates to the field of fiber grating array sensing technology, and in particular to a low-latency data synchronization acquisition system and method. Background Art

[0002] Fiber Bragg grating array (FBG) sensing technology has numerous advantages, including long detection range, high sensitivity, good reliability, and large-scale deployment, making it widely used in intelligent monitoring. Tens of thousands of FBG array sensors are often deployed on the monitored object, typically distributed over tens of kilometers. These sensors are then used by dozens of data acquisition devices, each independently collecting data.

[0003] In existing technologies, after data acquisition equipment uploads data to a server, it can only be synchronized using the common NTP (Network Time Protocol) timing protocol. This message synchronization method can effectively eliminate the delay caused by data transmission and achieve higher synchronization accuracy; however, it can only guarantee transmission synchronization after the data is generated and cannot achieve high-precision synchronization at the sampling level. In particular, in the application scenario of intelligent highway vehicle tracking and positioning, it is impossible to obtain sensor measurement results for the entire highway that is tens of kilometers long under the same sampling. Therefore, it brings difficulties to the calculation of the real-time position of all vehicles on the highway at the same time, which seriously restricts the development of fiber grating array sensing technology in vehicle-road collaborative applications such as intelligent highways.

[0004] Therefore, it is necessary to provide a low-latency data synchronization acquisition system and method to solve the technical problem in the existing technology that the data acquisition equipment can only upload data to the server and then synchronize it through the NTP protocol, which can only guarantee the transmission synchronization after the data is generated and cannot achieve high-precision synchronization at the sampling level. Summary of the Invention

[0005] In view of this, it is necessary to provide a low-latency data synchronization acquisition system and method to solve the technical problem in the existing technology that data can only be uploaded to the server for synchronization through the NTP protocol after it is generated, and high-precision synchronization at the sampling level cannot be achieved.

[0006] In order to solve the above problems, the present invention provides a low-latency data synchronization acquisition system, including multiple unit data acquisition modules, a data collection module and a data synchronization module:

[0007] The unit data acquisition module is used to collect sensor signals in real time to obtain collected data; determine time information based on Beidou satellite signals, add a timestamp to the collected data according to the time information to obtain time calibration data; pre-process the time calibration data, and obtain packaged data according to a preset communication protocol, and send the packaged data to the data collection module;

[0008] The data collection module is configured to receive the multi-channel encapsulated data sent by the plurality of unit data acquisition modules, obtain aggregated data based on the multi-channel encapsulated data, and send the aggregated data to the data synchronization module;

[0009] The data synchronization module is used to receive the collected data sent by the data collection module, and perform an alignment operation on the collected data according to a time axis to obtain synchronized aligned data.

[0010] Furthermore, the unit data acquisition module includes a Beidou timing unit, a data acquisition unit and a data processing unit;

[0011] The Beidou timing unit is used to obtain Beidou satellite signals and output time information according to the Beidou satellite signals;

[0012] The data acquisition unit is used to collect sensor signals in real time to obtain collected data; receive time information sent by the Beidou timing unit, add a timestamp determined according to the time information to the collected data, and obtain time calibration data;

[0013] The data processing unit is used to receive the time calibration data, pre-process the time calibration data, package the data according to a preset communication protocol to obtain packaged data, and send the packaged data to the data collection module.

[0014] Furthermore, the time information output by the Beidou timing unit includes the world standard time and a second pulse signal with high synchronization accuracy.

[0015] Furthermore, the data acquisition unit includes a sampling module, a serial port module, a real-time clock module and a data packaging module;

[0016] The sampling module is used to acquire the analog signal of the sensor in real time, sample the analog signal, and obtain collected data;

[0017] The serial port module is used to receive the universal time;

[0018] The real-time clock module is started when triggered by the second pulse signal and is used to provide a clock signal;

[0019] The data packaging module is used to package the collected data and add time stamp information to the packaged collected data according to the world standard time and clock signal to obtain time calibration data.

[0020] Furthermore, the real-time clock module is calibrated according to the universal time at intervals of a preset operating cycle.

[0021] Furthermore, the data acquisition unit sends the timing data through a high-speed PCIE interface; and the data processing unit receives the timing data through a high-speed PCIE interface.

[0022] Furthermore, the data processing unit includes a calculation module and a packaging module;

[0023] The computing module is used to pre-process the timing data based on a big-small core architecture;

[0024] The encapsulation module is used to package the pre-processed time calibration data according to a preset communication protocol to obtain encapsulated data, and send the encapsulated data to the data collection module.

[0025] Furthermore, the data aggregation module includes a multi-port switch, the downlink port is a Gigabit electrical port, and the uplink port is a 10 Gigabit optical port.

[0026] Furthermore, the data synchronization module includes a data server;

[0027] The data server arranges and aligns the collected data in chronological order according to the timestamps in the collected data to obtain synchronized aligned data.

[0028] The present invention also provides a low-latency data synchronization acquisition method, which adopts a low-latency data synchronization acquisition system described in any of the above technical solutions, including:

[0029] Based on the plurality of unit data acquisition modules, sensor signals are collected in real time to obtain collected data; time information is determined based on Beidou satellite signals, and a timestamp is added to the collected data according to the time information to obtain time calibration data; the time calibration data is preprocessed and packaged data is obtained according to a preset communication protocol;

[0030] The data collection module receives the multi-channel encapsulated data sent by the plurality of unit data acquisition modules, and obtains the collected data according to the multi-channel encapsulated data;

[0031] The data synchronization module receives the aggregated data sent by the data aggregation module, and performs an alignment operation on the aggregated data according to a time axis to obtain synchronized aligned data.

[0032] Compared with the prior art, the present invention has the following beneficial effects: collecting sensor signals in real time through a unit data acquisition module to obtain collected data, determining time information based on Beidou satellite signals, adding a timestamp to the collected data based on the time information to obtain time calibration data, and preprocessing and encapsulating the time calibration data to obtain encapsulated data; aggregating the multi-channel encapsulated data sent by multiple unit data acquisition modules through a data collection module; and finally aligning the collected data along the time axis through a data synchronization module to obtain synchronized aligned data. The low-latency data synchronization acquisition system provided by the present invention uses the unit data acquisition module to accurately calibrate the time based on Beidou satellite signals, adding a timestamp to each sampled data, thereby achieving high-precision synchronization at the sensor signal sampling level; aggregating and synchronized aligning the multi-channel encapsulated data through a high-performance data collection module and a data synchronization module, thereby ensuring low-latency and highly stable acquisition of sensor signals. After the data is synchronized and aligned, data asynchronization problems caused by inconsistent sensor startup times, different transmission paths, or data packet loss or misalignment can be eliminated, thereby achieving high-precision synchronization at the sampling level. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic structural diagram of an embodiment of a low-latency data synchronization acquisition system provided by the present invention;

[0034] Figure 2 This is a structural diagram of an embodiment of a unit data acquisition module provided by the present invention;

[0035] Figure 3 A schematic structural diagram of an embodiment of a data acquisition unit provided by the present invention;

[0036] Figure 4 A schematic structural diagram of an embodiment of a data processing unit provided by the present invention;

[0037] Figure 5 A schematic diagram of an embodiment of data synchronization module provided by the present invention performing data transmission and processing;

[0038] Figure 6 A schematic diagram of an embodiment of a data set of actually collected sensor signals provided by the present invention and plotted along a time axis after synchronous alignment;

[0039] Figure 7 The present invention provides a method for synchronously collecting low-latency data. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0041] Before describing the embodiments, the relevant terms of this application are first explained.

[0042] UTC: Universal Coordinated Time, also known as the World Standard Time or International Coordinated Time. UTC is equivalent to the mean solar time at the prime meridian (i.e., 0 degrees longitude). Beijing time is 8 hours ahead of UTC. For example, at 0000 UTC on January 1, 1999, UTC was midnight, while Beijing time was 8:00 a.m. on January 1, 1999.

[0043] NMEA0183 protocol frame: NMEA0183 is a standard format developed by the National Marine Electronics Association (NMEA) for marine electronic equipment. It has become the unified RTCM (Radio Technical Commission for Maritime Services) standard protocol for GPS navigation and Beidou equipment. This protocol uses ASCII code, and its default serial communication parameters are: baud rate = 9600 bps, data bits = 8 bits, start bit = 1 bit, stop bit = 1 bit, and no parity check.

[0044] PPS stands for Pulse Per Second. The PPS signal is a time reference signal provided by the GPS / Beidou clock server to users. It pulses once per second. Its main indicators include rising edge width, falling edge width, pulse width, and pulse amplitude.

[0045] PCIE interface: PCI-Express (Peripheral Component Interconnect Express) is a high-speed serial computer expansion bus standard proposed by Intel in 2001 to replace the older PCI, PCI-X, and AGP bus standards. PCIE offers many improvements over previous standards, including higher maximum system bus throughput, lower I / O pin count and smaller physical size, better bus device performance scaling, more detailed error detection and reporting mechanisms (Advanced Error Reporting, AER), and native hot-plugging capabilities.

[0046] The inventive concept of this application is described below.

[0047] In fiber grating array sensing technology, tens of thousands of fiber grating array sensors are often deployed on the monitored objects. These sensors are typically dispersed over tens of kilometers, corresponding to dozens of dispersed data acquisition devices, each independently collecting data. After the data acquisition devices upload data to the server, they can only be synchronized using the common NTP timing protocol. While this method eliminates the impact of data transmission delays, it only ensures transmission synchronization after the data is generated and cannot achieve high-precision synchronization at the sampling level.

[0048] The present invention is based on BeiDou satellite signals and adds a timestamp when sampling data, thus achieving high-precision synchronization of the sensor signal sampling level. It transmits data through a high-speed interface and uses a high-performance processor for data processing, ensuring low-latency and highly stable acquisition of sensor signals.

[0049] The embodiment of the present invention provides a low-latency data synchronization acquisition system, the structural diagram of which is shown in FIG. Figure 1 As shown, the low-latency data synchronization acquisition system 100 includes multiple unit data acquisition modules 101, a data collection module 102 and a data synchronization module 103:

[0050] The unit data acquisition module 101 is used to collect sensor signals in real time to obtain collected data; determine time information based on Beidou satellite signals, add a timestamp to the collected data according to the time information to obtain time calibration data; pre-process the time calibration data, and obtain packaged data according to a preset communication protocol, and send the packaged data to the data collection module 102;

[0051] The data collection module 102 is configured to receive the multi-channel encapsulated data sent by the plurality of unit data acquisition modules 101, obtain aggregated data based on the multi-channel encapsulated data, and send the aggregated data to the data synchronization module 103;

[0052] The data synchronization module 103 is configured to receive the collected data sent by the data collection module 102 and perform an alignment operation on the collected data according to a time axis to obtain synchronized aligned data.

[0053] Compared with the prior art, this embodiment provides a low-latency data synchronization acquisition system. This system uses unit data acquisition modules to acquire sensor signals in real time to obtain acquired data. Time information is determined based on Beidou satellite signals. Time-stamps are added to the acquired data based on the time information to obtain time-calibrated data. The time-calibrated data is preprocessed and packaged to obtain packaged data. A data collection module aggregates the multi-channel packaged data sent by multiple unit data acquisition modules. Finally, a data synchronization module aligns the aggregated data along a time axis to obtain synchronized and aligned data. This low-latency data synchronization acquisition system, provided in this embodiment, uses unit data acquisition modules to accurately calibrate time based on Beidou satellite signals and adds a timestamp to each sampled data, achieving high-precision synchronization at the sensor signal sampling level. High-performance data collection and synchronization modules aggregate and synchronize the multi-channel packaged data, ensuring low-latency and highly stable acquisition of sensor signals. After data synchronization and alignment, data asynchronization issues caused by inconsistent sensor startup times, different transmission paths, or packet loss or misalignment are eliminated, achieving high-precision synchronization at the sampling level.

[0054] As a preferred embodiment, Figure 2 As shown, the unit data acquisition module 101 includes a Beidou timing unit 201, a data acquisition unit 202 and a data processing unit 203;

[0055] The Beidou timing unit 201 is used to obtain Beidou satellite signals and output time information according to the Beidou satellite signals;

[0056] The data acquisition unit 202 is used to collect sensor signals in real time to obtain collected data; receive time information sent by the Beidou timing unit, add a timestamp determined according to the time information to the collected data, and obtain time calibration data;

[0057] The data processing unit 203 is configured to receive the time calibration data, pre-process the time calibration data, package the data according to a preset communication protocol to obtain packaged data, and send the packaged data to the data collection module.

[0058] As a preferred embodiment, the time information output by the Beidou timing unit 201 includes the universal time and a second pulse signal with high synchronization accuracy.

[0059] As a specific embodiment, the Beidou timing unit outputs a NMEA0183 protocol frame containing UTC time through an RS232 interface, and outputs a second pulse signal with high synchronization accuracy through a PPS pin.

[0060] As a preferred embodiment, Figure 3As shown, the data acquisition unit 202 includes a sampling module 301, a serial port module 302, a real-time clock module 303 and a data packaging module 304;

[0061] The sampling module 301 is used to obtain the analog signal of the sensor in real time, sample the analog signal, and obtain collected data;

[0062] The serial port module 302 is used to receive the universal time;

[0063] The real-time clock module 303 is started when triggered by the second pulse signal and is used to provide a clock signal;

[0064] The data packaging module 304 is used to package the collected data and add time stamp information to the packaged collected data according to the world standard time and clock signal to obtain time calibration data.

[0065] As a specific embodiment, in order to more realistically restore the analog signal of the sensor, the sampling module uses a high-speed ADC with a sampling rate of up to 200MHz to convert the analog signal into a digital signal to obtain collected data, and transmits the collected data to the FPGA IO interface through a parallel data line. The FPGA stores the N received sampling points in the internal FIFO.

[0066] As a specific embodiment, the serial port module, real-time clock module, and data packaging module are all implemented using an FPGA. The serial port module is built into the FPGA and receives UTC time information from the Beidou signal. It then activates the high-precision real-time clock module after being triggered by the pulse per second (PPS) signal. The data packaging module packages the sampled data according to a specified format and adds timestamp information obtained from the real-time clock module.

[0067] In order to eliminate the accumulated error caused by long-term operation, as a preferred embodiment, the real-time clock module 303 is calibrated according to the universal time at intervals of a preset operation cycle. By calibrating with the UTC time at intervals of a preset operation cycle, the timing accuracy of the real-time clock module is ensured.

[0068] In order to reduce transmission delay and ensure high synchronization performance of the system, as a preferred embodiment, the data acquisition unit sends the timing data through a high-speed PCIE interface; the data processing unit receives the timing data through the high-speed PCIE interface.

[0069] As a specific embodiment, the data acquisition unit transmits data through the PCIE IP hard core built into the FPGA, configured as Endpoint, x4 Lane, and data is transmitted point-to-point at a transmission rate of several GB per second with extremely low transmission delay.

[0070] As a preferred embodiment, Figure 4 As shown, the data processing unit 203 includes a calculation module 401 and a packaging module 402;

[0071] The computing module 401 is configured to pre-process the timing data based on a big-small core architecture;

[0072] The encapsulation module 402 is configured to package the pre-processed time calibration data according to a preset communication protocol to obtain encapsulated data, and send the encapsulated data to the data collection module.

[0073] As a specific embodiment, the data processing unit quickly completes data processing with a multi-core processor and a streamlined operating system. Specifically, a six-core ARM processor is used. The processor is based on a large and small core architecture and has low power consumption while maintaining high performance. The multi-core processor and the streamlined operating system enable efficient and low-latency processing of data streams. On the processor, a streamlined Linux operating system runs to perform multiple tasks such as data reception, calculation processing, and data transmission. The processor is configured with a PCIE RC interface to receive the timing data sent by the data acquisition unit; the processor is also configured with a Gigabit Ethernet interface to send the processed encapsulated data.

[0074] As a specific embodiment, the preprocessing includes at least filtering and phase demodulation.

[0075] As a preferred embodiment, the data aggregation module includes a multi-port switch with a Gigabit electrical port as the downlink port and a 10 Gigabit optical port as the uplink port. The downlink port receives data from dozens of data processing units and sends the aggregated data to the data synchronization module via the uplink 10 Gigabit optical port.

[0076] As a preferred embodiment, the data synchronization module includes a data server;

[0077] The data server arranges and aligns the collected data in chronological order according to the timestamps in the collected data to obtain synchronized aligned data.

[0078] In a specific embodiment, the data synchronization module's input data port is a 10 Gigabit optical port that receives data from the data aggregation module. The data synchronization module utilizes a data server to receive the aggregated data packets, extracts valid data, and synchronizes the data based on timestamps, plotting all collected sensor signal data into a time-aligned data set.

[0079] Since the aggregated data is a continuous transmission of data packets from dozens of data processing modules, each packet contains timestamp information. All data packets entering the server will be arranged in chronological order to achieve data synchronization and alignment.

[0080] like Figure 5 As shown, Figure 5 This is a schematic diagram of the data synchronization module performing synchronization and alignment operations on data. Figure 5 In the example, before synchronization and alignment, sensor 2 only returned sensor data at time t3. Furthermore, sensor 3 experienced packet loss at t3, resulting in data misalignment starting at t4. After synchronization, because each sampling time is stamped with the BeiDou satellite signal, the data synchronization module sorts the sensor data by timestamp, generating the synchronized and aligned sampled data. The sampled data from sensors 2 and 3 are arranged and plotted on the timeline to create the dataset.

[0081] After the synchronization alignment operation, data asynchrony problems caused by inconsistent sensor startup times, different transmission paths, or data packet loss and misalignment can be eliminated, achieving high-precision synchronization at the sampling level.

[0082] In order to verify the performance of the low-latency data synchronization system of the present invention, at a certain moment, an excitation signal is given to all sensors at the same time. In each collected sensor data record, the time corresponding to the moment of the excitation signal is found, and the standard deviation of these times is calculated in milliseconds, which is the system synchronization accuracy.

[0083] like Figure 6 As shown, Figure 6 The data set is a result of aligning the actual sensor signals and plotting them along the time axis. At a sampling frequency of 1 kHz, the synchronization accuracy can reach within 4 ms, demonstrating the high synchronization and low latency performance of the system provided by this application.

[0084] The embodiment of the present invention further provides a low-latency data synchronization acquisition method, which adopts the low-latency data synchronization acquisition system described in any of the above technical solutions, such as Figure 7 As shown, Figure 7 is a flow chart of the method, comprising:

[0085] Step S701: collecting sensor signals in real time based on the plurality of unit data acquisition modules to obtain collected data; determining time information based on Beidou satellite signals, adding a timestamp to the collected data according to the time information to obtain time calibration data; preprocessing the time calibration data, and obtaining packaged data according to a preset communication protocol;

[0086] Step S702, receiving the multi-channel encapsulated data sent by the plurality of unit data acquisition modules based on the data collection module, and obtaining aggregated data according to the multi-channel encapsulated data;

[0087] Step S703 : Based on the data synchronization module receiving the aggregated data sent by the data aggregation module, the aggregated data is aligned according to the time axis to obtain synchronized aligned data.

[0088] The present invention discloses a low-latency data synchronization acquisition system and method, which acquires sensor signals in real time through a unit data acquisition module to obtain acquired data, determines time information based on Beidou satellite signals, adds a timestamp to the acquired data according to the time information to obtain time calibration data, and pre-processes and encapsulates the time calibration data to obtain encapsulated data; aggregates multi-channel encapsulated data sent by multiple unit data acquisition modules through a data aggregation module; and finally arranges and aligns the aggregated data according to the time axis through a data synchronization module to obtain synchronized aligned data.

[0089] The low-latency data synchronization acquisition system provided by the present invention uses Beidou satellite signals for precise time calibration in its unit data acquisition modules, adding a timestamp to each sampled data. This achieves high-precision synchronization at the sensor signal sampling level. High-performance data aggregation and synchronization modules aggregate and synchronize multi-channel encapsulated data, ensuring low-latency and highly stable acquisition of sensor signals. This synchronized data eliminates data asynchrony issues caused by inconsistent sensor startup times, different transmission paths, or packet loss or misalignment, achieving high-precision synchronization at the sampling level.

[0090] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A low-latency data synchronization acquisition system, characterized in that: It includes multiple unit data acquisition modules, data collection modules and data synchronization modules: The unit data acquisition module is used to collect sensor signals in real time to obtain collected data; while collecting sensor signals, it determines time information based on Beidou satellite signals, and adds a timestamp to the collected data according to the time information to obtain time calibration data; Preprocessing the time calibration data, obtaining packaged data according to a preset communication protocol, and sending the packaged data to the data collection module; The data collection module is configured to receive the multi-channel encapsulated data sent by the plurality of unit data acquisition modules, obtain aggregated data based on the multi-channel encapsulated data, and send the aggregated data to the data synchronization module; The data synchronization module is configured to receive the collected data sent by the data collection module, and perform an alignment operation on the collected data according to a time axis to obtain synchronized aligned data; Wherein, the unit data acquisition module includes a Beidou timing unit, a data acquisition unit and a data processing unit; The Beidou timing unit is used to obtain Beidou satellite signals and output time information according to the Beidou satellite signals; The data acquisition unit is used to collect sensor signals in real time to obtain collected data; receive time information sent by the Beidou timing unit, add a timestamp determined according to the time information to the collected data, and obtain time calibration data; The data processing unit is configured to receive the time calibration data, pre-process the time calibration data, package the data according to a preset communication protocol to obtain packaged data, and send the packaged data to the data collection module; The time information output by the Beidou timing unit includes the world standard time and a second pulse signal with high synchronization accuracy; The data acquisition unit includes a sampling module, a serial port module, a real-time clock module and a data packaging module; The sampling module is used to acquire the analog signal of the sensor in real time, sample the analog signal, and obtain collected data; The serial port module is used to receive the universal time; The real-time clock module is started when triggered by the second pulse signal and is used to provide a clock signal; The data packaging module is used to package the collected data and add time stamp information to the packaged collected data according to the world standard time and clock signal to obtain time calibration data.

2. A low-latency data synchronization acquisition system according to claim 1, characterized in that: The real-time clock module is calibrated according to the universal time at intervals of a preset operating period.

3. The low-latency data synchronization acquisition system according to claim 1, characterized in that: The data acquisition unit sends the time calibration data through a high-speed PCIE interface; and the data processing unit receives the time calibration data through a high-speed PCIE interface.

4. A low-latency data synchronization acquisition system according to claim 1, characterized in that: The data processing unit includes a calculation module and a packaging module; The computing module is used to pre-process the timing data based on a big-small core architecture; The encapsulation module is used to package the pre-processed time calibration data according to a preset communication protocol to obtain encapsulated data, and send the encapsulated data to the data collection module.

5. The low-latency data synchronization acquisition system according to claim 1, characterized in that: The data collection module includes a multi-port switch, the downlink port is a Gigabit electrical port, and the uplink port is a 10 Gigabit optical port.

6. The low-latency data synchronization acquisition system according to claim 1, characterized in that: The data synchronization module includes a data server; The data server arranges and aligns the collected data in chronological order according to the timestamps in the collected data to obtain synchronized aligned data.

7. A low-latency data synchronization acquisition method, characterized in that: A low-latency data synchronization acquisition system according to any one of claims 1 to 6 is used, comprising: Based on the plurality of unit data acquisition modules, sensor signals are collected in real time to obtain collected data; time information is determined based on Beidou satellite signals, and a timestamp is added to the collected data according to the time information to obtain time calibration data; the time calibration data is preprocessed and packaged data is obtained according to a preset communication protocol; The data collection module receives the multi-channel encapsulated data sent by the plurality of unit data acquisition modules, and obtains the collected data according to the multi-channel encapsulated data; The data synchronization module receives the aggregated data sent by the data aggregation module, and performs an alignment operation on the aggregated data according to a time axis to obtain synchronized aligned data.

Images