Wireless dynamic dual-node frequency synchronization method and device, and electronic equipment

Abstract

The application provides a wireless dynamic dual-node frequency synchronization method, device and electronic equipment. The method comprises the following steps: receiving a clock signal sent by a target dynamic node, and determining the period of the clock signal of the target dynamic node; determining the deviation between the period of the clock signal of a local dynamic node and the period of the clock signal of the target dynamic node; performing PID algorithm calculation based on the deviation, and synchronizing the crystal oscillator frequency of the local dynamic node according to the calculation result. The application can realize real-time dynamic frequency synchronization between dual nodes without considering the actual distance between the two dynamic nodes, and can realize sub-nanosecond level time synchronization accuracy in the millimeter wave band.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, in particular to a wireless dynamic dual-node frequency synchronization method and device and electronic equipment. BACKGROUND

[0002] Due to the use of different local oscillator signals by the transceiver, the local oscillator frequency sources of the transmitting node and the receiving node are independent of each other. At the same time, due to the natural frequency drift of the crystal oscillator, there is a frequency difference between the transmitting node and the receiving node, which causes unacceptable errors in the demodulated signal.

[0003] To solve the above problems, the local oscillator signals of the receiving node and the transmitting node need to be frequency-synchronized. In the prior art, a local synchronization method is usually used, with the GPS system taming a high-precision crystal oscillator as a representative. This method can make the local node crystal oscillator have good short stability performance. However, this method is highly dependent on the GPS system, and will fail when the GPS system is affected by environmental factors such as weather and satellite signal denial, and cannot achieve real-time frequency synchronization. Therefore, a clock synchronization method is usually used in the prior art, with a time-frequency synchronization technology based on optical fiber transmission as a representative, to make up for the shortcomings of the GPS system. However, the synchronization node based on optical fiber transmission does not support mobility, has poor flexibility, and needs to consider the actual distance between the receiving node and the transmitting node for optical fiber network deployment, and has defects such as complex and tedious network deployment.

[0004] Therefore, how to realize real-time and dynamic frequency synchronization between the receiving node and the transmitting node has become an important problem in the industry. SUMMARY

[0005] The present application provides a wireless dynamic dual-node frequency synchronization method and device and electronic equipment to realize real-time and dynamic frequency synchronization between the receiving node and the transmitting node.

[0006] The present application provides a wireless dynamic dual-node frequency synchronization method, comprising:

[0007] receiving a clock signal sent by a target dynamic node, and determining the period of the clock signal of the target dynamic node;

[0008] determining the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node;

[0009] performing PID algorithm calculation based on the deviation, and synchronizing the crystal oscillator frequency of the local dynamic node according to the calculation result.

[0010] The wireless dynamic dual-node frequency synchronization method provided by the application comprises the following steps:

[0011] In the case that the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node are determined to be valid, the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node is calculated.

[0012] The wireless dynamic dual-node frequency synchronization method provided by the application comprises the following steps:

[0013] The deviation is taken as the input of the incremental PID algorithm to obtain a target reference quantity.

[0014] The crystal frequency of the local dynamic node is synchronized based on the target reference quantity.

[0015] The wireless dynamic dual-node frequency synchronization method provided by the application comprises the following steps:

[0016] Δu=K P (e(k)-e(k-1))+K I *e(k)+K D (e(k)-2e(k-1)+e(k-2));

[0017] Wherein, Δu represents the target reference quantity; e(k) represents the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node at the k moment; K P represents a proportional amplification coefficient; K I represents an integral amplification coefficient; and K D represents a differential amplification coefficient.

[0018] The wireless dynamic dual-node frequency synchronization method provided by the application comprises the following steps:

[0019] A target correction voltage is calculated based on the target reference quantity.

[0020] The target correction voltage is converted into an analog voltage through digital-to-analog conversion.

[0021] The analog voltage is input to a voltage-controlled crystal oscillator of the local dynamic node, and a crystal oscillator frequency output by the voltage-controlled crystal oscillator is adjusted to synchronize the frequency of the local dynamic node with that of the target dynamic node.

[0022] According to the wireless dynamic dual-node frequency synchronization method provided in the application, the local dynamic node is provided with a time-to-digital converter used for measuring the period of the clock signal of the local dynamic node and the target dynamic node.

[0023] The application further provides a wireless dynamic dual-node frequency synchronization device, comprising:

[0024] The receiving module is used for receiving the clock signal sent by the target dynamic node and determining the period of the clock signal of the target dynamic node.

[0025] The processing module is used for determining the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node.

[0026] The synchronization module is used for performing PID algorithm calculation based on the deviation and synchronizing the crystal oscillator frequency of the local dynamic node according to the calculation result.

[0027] The application further provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the wireless dynamic dual-node frequency synchronization method according to any one of the above-mentioned methods when executing the program.

[0028] The application further provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable by a processor to implement the wireless dynamic dual-node frequency synchronization method according to any one of the above-mentioned methods.

[0029] The application further provides a computer program product comprising a computer program, wherein the computer program is executable by a processor to implement the wireless dynamic dual-node frequency synchronization method according to any one of the above-mentioned methods.

[0030] The wireless dynamic dual-node frequency synchronization method, device and electronic device provided in the application can receive the clock signal sent by the target dynamic node through transmitting the continuous clock signal on the wireless channel, measure the period of the clock signal of the target dynamic node and the period of the clock signal of the local dynamic node, calculate the deviation between the periods, perform PID control operation, adjust the output of the crystal oscillator frequency of the local dynamic node, can be free from the constraint of GPS, does not need to consider the actual distance between the two dynamic nodes, and can realize the real-time dynamic frequency synchronization between the two nodes, and can realize the sub-nanosecond order time synchronization precision in the millimeter wave band. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art without creative work based on these drawings are within the scope of the present application.

[0032] Figure 1 is a flow diagram of the wireless dynamic dual-node frequency synchronization method provided by the present application;

[0033] Figure 2 is a data processing flow diagram of the wireless dynamic dual-node frequency synchronization method provided by the present application;

[0034] Figure 3 is a hardware structure diagram of the dual-node in the wireless dynamic dual-node frequency synchronization method provided by the present application;

[0035] Figure 4 is a hardware structure diagram of the single node in the wireless dynamic dual-node frequency synchronization method provided by the present application;

[0036] Figure 5 is a software flow diagram of the wireless dynamic dual-node frequency synchronization method provided by the present application;

[0037] Figure 6 is a structure diagram of the wireless dynamic dual-node frequency synchronization device provided by the present application;

[0038] Figure 7 is a physical structure diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of the present application.

[0040] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] The wireless dynamic dual-node frequency synchronization method, device and electronic equipment of the present application will be described below in combination with Figures 1-7 The wireless dynamic dual-node frequency synchronization method, device and electronic equipment of the present application will be described below in combination with

[0042] Figure 1 The wireless dynamic dual-node frequency synchronization method of the present application is shown in the flowchart as Figure 1 The method comprises the following steps:

[0043] In step 110, the clock signal sent by the target dynamic node is received, and the period of the clock signal of the target dynamic node is determined.

[0044] In step 120, the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node is determined.

[0045] In step 130, the PID algorithm is calculated based on the deviation, and the crystal frequency of the local dynamic node is synchronized according to the calculation result.

[0046] Specifically, the dynamic node described in the embodiments of the present application refers to a node device supporting wireless network transmission, which can include a receiving node or a transmitting node.

[0047] In the embodiments of the present application, the target dynamic node can be a transmitting node, and the local dynamic node can be a receiving node.

[0048] Based on the above-mentioned embodiments, as an optional embodiment, the local dynamic node is provided with a time-to-digital converter (TDC), and the TDC is used to measure the period of the clock signal of the local dynamic node and the target dynamic node.

[0049] In the prior art, the TDC is generally used in the fields of laser ranging and ultrasonic speed measurement, while in the embodiments of the present application, the TDC is applied to the field of node frequency synchronization based on the measurement of the clock period, so as to accurately measure the period of the clock signal of the local dynamic node and the target dynamic node.

[0050] In the embodiments of the present application, by setting the TDC on the local dynamic node, the clock period of the local node, i.e. the local dynamic node, and the remote node, i.e. the target dynamic node, can be measured by the same TDC on a single node, which avoids the measurement difference of the same clock signal by different TDCs, and is beneficial to improve the accuracy of frequency synchronization between the receiving node and the transmitting node.

[0051] Further, in the embodiment of the application, a continuous clock signal is transmitted on the wireless channel, the local dynamic node can receive the clock signal sent by the target dynamic node, and the period of the clock signal of the target dynamic node and the period of the clock signal of the local dynamic node are measured by the TDC, and then the deviation between the periods of the clock signals of the local dynamic node and the target dynamic node can be calculated.

[0052] Further, the PID calculation is performed according to the above deviation to determine the compensation value, and then the control voltage for synchronously adjusting the local voltage controlled crystal oscillator (VCXO) can be calculated to adjust the output frequency of the VCXO of the local dynamic node, so as to realize the frequency synchronization between the wireless dynamic double nodes.

[0053] It should be noted that the time accuracy index of the double nodes after the frequency synchronization is relative to the two nodes, and is not synchronized with the coordinated universal time (UTC).

[0054] In the embodiment of the application, a clock signal of a certain frequency is sent on the wireless channel of the double nodes, and a bidirectional channel is built for the decentralization of the double nodes, so as to realize the high-precision dynamic node frequency synchronization.

[0055] The wireless dynamic double node frequency synchronization method of the embodiment of the application can realize the frequency synchronization between the double nodes in real time and dynamically by transmitting a continuous clock signal on the wireless channel, receiving the clock signal sent by the target dynamic node, measuring the period of the clock signal of the target dynamic node and the period of the clock signal of the local dynamic node, calculating the deviation between the periods, and performing the PID control operation to adjust the output of the local dynamic node crystal oscillator frequency, which can be free from the GPS constraint and does not need to consider the actual distance between the two dynamic nodes, and the synchronization accuracy of the time scale can reach sub-nanosecond level in the millimeter wave band.

[0056] Based on the above embodiment, as an optional embodiment, the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node is determined, including:

[0057] In the case where the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node are valid, the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node is calculated.

[0058] Specifically, in the embodiment of the present application, the period of the clock signal is preset with a valid value range, and the specific range can be 100ms-500ns to 100ms+500ns. That is, the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node are measured by the TDC, and if the measured period value is within the valid value range, it is determined that the measured period is valid, otherwise it is determined that the measured period is invalid.

[0059] The method of the embodiment of the present application further ensures the accuracy and validity of the TDC measurement result by introducing a period value validity determination mechanism, and provides reliable calculation data for subsequent frequency synchronization adjustment between nodes.

[0060] Based on the content of the above embodiment, as an optional embodiment, the PID algorithm adopts an incremental PID algorithm; the PID algorithm is calculated based on the deviation, and the crystal frequency of the local dynamic node is synchronized according to the calculation result, including:

[0061] The deviation is taken as an input of the incremental PID algorithm to obtain a target reference quantity;

[0062] Based on the target reference quantity, the crystal frequency of the local dynamic node is synchronized.

[0063] Specifically, the target reference quantity described in the embodiment of the present application refers to an output value of the PID operation based on the deviation of the signal period between the local dynamic node and the target dynamic node, which is used to adjust the signal period between the local dynamic node and the target dynamic node to be consistent, so as to achieve the purpose of frequency synchronization.

[0064] It should be noted that the PID algorithm is composed of three parts of proportional control, integral control and differential control, and the PID algorithm includes a position type PID algorithm and an incremental PID algorithm.

[0065] The input and output of the position type PID algorithm have the following relationship:

[0066]

[0067] In the formula, e(t) represents the input; u(t) represents the output; K P ′ represents a proportional amplification coefficient; K I ′ represents an integral amplification coefficient; K D ′ represents a differential amplification coefficient. The three parameters are constants determined by debugging.

[0068] Since the position type PID algorithm needs the deviation signal of all previous times, and the incremental type PID algorithm only needs an incremental signal, it can be seen that the calculation of the position type PID algorithm is complicated; at the same time, the output of the position type PID control is related to the entire past state, and the cumulative value of the error is used, while the output of the incremental type PID algorithm is only related to the error of the current beat and the previous two beats, compared with the position type PID control, the cumulative error of the position type PID control is relatively larger.

[0069] Therefore, in the embodiment of the application, the incremental type PID algorithm is adopted in the PID algorithm, the deviation of the clock signal period of the local dynamic node and the target dynamic node is taken as the input of the incremental type PID algorithm to calculate the target reference quantity.

[0070] Based on the content of the above embodiment, as an optional embodiment, the target reference quantity is calculated by the following formula:

[0071] Δu=K P (e(k)-e(k-1))+K I *e(k)+K D (e(k)-2e(k-1)+e(k-2));

[0072] Wherein, Δu represents the target reference quantity; e(k) represents the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node at k time; K P represents a proportional amplification coefficient; K I represents an integral amplification coefficient; K D represents a differential amplification coefficient.

[0073] The above formula is the specific relationship between the input and output of the incremental type PID algorithm, wherein the target reference quantity Δu is the output, and e(k) is the input.

[0074] The method of the embodiment of the application ensures the accuracy of the target reference quantity for adjusting the frequency of the local dynamic node crystal oscillator by taking the clock signal period deviation between the dynamic double nodes measured by the TDC as the input of the PID algorithm for PID operation.

[0075] Further, in the embodiment of the present application, the crystal frequency of the local dynamic node is synchronized based on the target reference quantity. The input of the PID algorithm is the period deviation of the local dynamic node clock signal and the target dynamic node clock signal, so as long as there is a period deviation between the two, the PID algorithm will automatically calculate a target reference quantity, and only when the period deviation between the two is 0, the output of the PID algorithm is also 0. As can be seen, through the automatic feedback mechanism of the PID algorithm, the target reference quantity can be automatically output for adjusting the crystal frequency of the local dynamic node until the frequency of the clock signal of the local dynamic node and the clock signal of the target dynamic node reaches the same, that is, the frequency synchronization of the two is completed.

[0076] The method of the embodiment of the present application has small calculation amount and can quickly adjust the crystal frequency of the local dynamic node by using the incremental PID algorithm to calculate the target reference quantity, thereby effectively improving the efficiency of the frequency synchronization between the dynamic double nodes.

[0077] Based on the content of the above embodiment, as an optional embodiment, the crystal frequency of the local dynamic node is synchronized based on the target reference quantity, comprising:

[0078] The target correction voltage is calculated based on the target reference quantity;

[0079] The target correction voltage is converted into an analog voltage through digital-to-analog conversion;

[0080] The analog voltage is input to the voltage-controlled crystal oscillator of the local dynamic node, and the crystal frequency output by the voltage-controlled crystal oscillator is adjusted to synchronize the frequency of the local dynamic node and the target dynamic node.

[0081] Specifically, the target correction voltage described in the embodiment of the present application refers to the voltage quantity for adjusting the crystal frequency of the local dynamic node, which can synchronize the crystal frequency of the local dynamic node with the crystal frequency of the target dynamic node.

[0082] In the embodiment of the present application, after the target reference quantity is obtained based on the PID operation, the running voltage of the local dynamic node VCXO and the target reference quantity are summed to calculate the target correction voltage, which is a digital voltage. Further, the target correction voltage is converted into a corresponding analog voltage through a digital-to-analog converter (DAC).

[0083] Further, the analog voltage can be input to the VCXO of the local dynamic node to adjust the crystal frequency output by the local dynamic node VCXO, so that the frequency of the local dynamic node and the target dynamic node is synchronized.

[0084] In one specific embodiment, when the crystal oscillator to be adjusted is a voltage-controlled crystal oscillator, based on the deviation between the clock signal period of the local dynamic node and the clock signal period of the target dynamic node, an incremental PID algorithm is used. The deviation between the clock signal periods of the local dynamic node and the target dynamic node is used as the input of the incremental PID algorithm for calculation. After calculating the target reference value, the target reference value is determined to be 2V. Then, based on the current operating voltage of the VCXO of the local dynamic node being 3V and the target reference value of 2V, the target correction voltage is calculated to be 5V. After digital-to-analog conversion, the 5V digital value is converted into the corresponding analog voltage. Then, the analog voltage can be directly applied to the VCXO of the local dynamic node to adjust the output frequency of the VCXO, thereby achieving rapid crystal oscillator frequency adjustment.

[0085] The method of this invention converts the target correction voltage calculated based on the PID calculation results into a digital-to-analog converter to obtain the corresponding analog voltage, thereby enabling frequency adjustment of the voltage-controlled crystal oscillator of the local dynamic node and quickly and conveniently achieving high-precision frequency synchronization between the local dynamic node and the target dynamic node.

[0086] Figure 2 This is a schematic diagram of the data processing flow of the wireless dynamic dual-node frequency synchronization method provided by the present invention, as shown below. Figure 2 As shown, in an embodiment of the present invention, node A can be a target dynamic node and node B can be a local dynamic node. After obtaining the VCXO clock signal period t1 of node A and the VCXO clock signal period t2 of node B, the deviation Δt between the two can be calculated. Then, an incremental PID algorithm is used to calculate the target reference value by taking the deviation Δt between the clock signal periods of node A and node B as the input of the incremental PID algorithm.

[0087] Next, the target correction voltage, which is a digital quantity, can be calculated based on the current operating voltage of the local dynamic node VCXO and the target reference value. Further, this target correction voltage is input to the digital-to-analog converter (DAC) via the SPI interface. The DAC converts the target correction voltage into a corresponding analog voltage V0 and outputs it as the voltage control input signal for the local dynamic node VCXO, thereby adjusting the VCXO's output frequency. This data processing process is repeated to achieve real-time frequency synchronization between the two dynamic nodes.

[0088] Figure 3 This is a schematic diagram of the hardware structure of the two nodes in the wireless dynamic dual-node frequency synchronization method provided by the present invention, as shown below. Figure 3As shown, node A can be a target dynamic node, and node B can be a local dynamic node, each of which mainly consists of a main control board unit, a transmitter (Tx) and a receiver (Rx). The transmitter Tx is configured to transmit a clock signal to the outside, the receiver Rx is configured to receive a clock signal transmitted by an external node, and the main control board unit is configured to process signals.

[0089] Figure 4 is a single-node hardware structure diagram in the wireless dynamic dual-node frequency synchronization method provided by the application, as shown in Figure 4 The single node can be a local dynamic node, and specifically includes a main control board unit 1, a digital-to-analog converter (DAC) 2, a time-to-digital converter (TDC) 3, a voltage-controlled crystal oscillator (VCXO) 4, a communication transmitter (Tx) 5 and a receiver (Rx) 6.

[0090] The main control board unit includes an ARM unit, a filter logic (Filter LOGIC) unit, a TDC signal operation logic (TDC-CTL LOGIC) unit and a mode clock manager (MMCM).

[0091] In the embodiment of the application, the local dynamic node can receive a clock signal transmitted by the target dynamic node through the receiver Rx, and transmit the clock signal of the target dynamic node to the TDC-CTL LOGIC unit through the Filter LOGIC unit. The MMCM can collect the clock signal of the local dynamic node and transmit the clock signal of the local dynamic node to the TDC-CTL LOGIC unit.

[0092] Meanwhile, the TDC-CTL LOGIC unit is configured to control the time-to-digital converter TDC to measure the period of the clock signal of the target dynamic node and the period of the clock signal of the local dynamic node, so that the ARM unit can calculate the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node, and perform PID calculation on the period deviation to obtain a target reference quantity.

[0093] Further, the ARM unit calculates a target correction voltage according to the current operating voltage of the VCXO of the local dynamic node and the target reference quantity, the target correction voltage being a digital quantity, and then inputs the target correction voltage to the digital-to-analog converter DAC through an SPI interface. The DAC converts the target correction voltage into a corresponding analog voltage V0 and outputs the analog voltage V0 as a voltage control input signal V i , so as to adjust the output frequency of the VCXO of the local dynamic node and realize frequency synchronization with the target dynamic node at a remote place.

[0094] Figure 5is a software flow diagram of the wireless dynamic dual-node frequency synchronization method provided by the application, as shown in Figure 5 , which is a software system program execution flow, which can be referred to Figure 2 correspondingly. After the software system is powered on, system initialization is first performed, including clock initialization, interface initialization, print port initialization, etc.

[0095] Further, in the embodiment of the application, by calling the TDC, the node A period, i.e. the clock signal period generated by the VCXO of node A, and the node B period, i.e. the clock signal period generated by the VCXO of node B, are measured in turn. Then it is judged whether the period measurement value of the clock signals of node A and node B is valid. If the period is invalid, the above period measurement is repeated. If the period is valid, the period deviation between the clock signals of node A and node B is calculated, and the target reference quantity is obtained by PID control operation based on the deviation. Then, the target correction voltage of the digital quantity can be calculated according to the working voltage of the current local dynamic node VCXO and the target reference quantity. Further, the target correction voltage is input to the digital-to-analog converter DAC through the SPI interface. The DAC converts the target correction voltage into the corresponding analog voltage V0 and outputs it as the voltage control input signal of the local dynamic node VCXO, so as to adjust the voltage control (VC) frequency of the local dynamic node VCXO, change the period of the clock signal of the node, and realize the frequency synchronization between the local dynamic node and the target dynamic node at a distance.

[0096] At the same time, the clock signal period after adjusting the frequency of the local dynamic node VCXO is continuously sent to the TDC for measurement, and the above program execution process is repeated, so as to realize the real-time dynamic frequency synchronization between the local node and the remote node.

[0097] The method for dynamic node frequency synchronization based on time-to-digital converter measurement of clock period provided by the embodiment of the application can make the period difference between two nodes tend to zero by adjusting the frequency of the local crystal oscillator, realize the frequency synchronization between wireless nodes, and obtain higher precision. The method can realize frequency synchronization under certain conditions based on only two nodes without relying on ephemeris calculation of signal base stations, satellites and terminals. Compared with the optical fiber time-frequency transmission synchronization technology, the clock signal period of wireless channel transmission does not change with the distance of the node, and can support the frequency synchronization between two dynamic nodes.

[0098] The wireless dynamic dual-node frequency synchronization device provided by the application is described below. The wireless dynamic dual-node frequency synchronization device described below can be referred to the wireless dynamic dual-node frequency synchronization method described above.

[0099] Figure 6 is a structure diagram of the wireless dynamic dual-node frequency synchronization device provided by the application, as shown inFigure 6 As shown, comprising:

[0100] The receiving module 610 is configured to receive the clock signal transmitted by the target dynamic node and determine the period of the clock signal of the target dynamic node.

[0101] The processing module 620 is configured to determine the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node.

[0102] The synchronization module 630 is configured to perform PID algorithm calculation based on the deviation and synchronize the crystal oscillator frequency of the local dynamic node according to the calculation result.

[0103] The wireless dynamic dual-node frequency synchronization device described in the embodiment can be used to execute the wireless dynamic dual-node frequency synchronization method described above, and has similar principles and technical effects, which will not be described here again.

[0104] The wireless dynamic dual-node frequency synchronization device of the embodiment can transmit continuous clock signals on a wireless channel, so that the local dynamic node can receive the clock signal transmitted by the target dynamic node. By measuring the period of the clock signal of the target dynamic node and the period of the clock signal of the local dynamic node, the deviation between the two periods is calculated, and PID control operation is performed to adjust the output of the crystal oscillator frequency of the local dynamic node. The frequency synchronization between the two nodes can be realized in real time and dynamically without considering the actual distance between the two dynamic nodes, and the synchronization accuracy of the time scale can be realized in sub-nanosecond level in the millimeter wave band.

[0105] Based on the content of the above embodiment, as an optional embodiment, the processing module 620 is specifically configured to:

[0106] In the case where the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node are valid, the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node is calculated.

[0107] Based on the content of the above embodiment, as an optional embodiment, the PID algorithm adopts an incremental PID algorithm; and the synchronization module 630 further comprises:

[0108] The operation sub-module takes the deviation as the input of the incremental PID algorithm to obtain a target reference quantity.

[0109] The synchronization sub-module is configured to synchronize the crystal oscillator frequency of the local dynamic node based on the target reference quantity.

[0110] Based on the content of the above embodiment, as an optional embodiment, the synchronization sub-module is specifically configured to:

[0111] According to the period of the clock signal of the local dynamic node and the target reference quantity, a target correction voltage is calculated;

[0112] The target correction voltage is converted into an analog voltage through digital-to-analog conversion;

[0113] The analog voltage is input to a voltage-controlled crystal oscillator of the local dynamic node, and the crystal oscillator frequency output by the voltage-controlled crystal oscillator is adjusted to synchronize the frequencies of the local dynamic node and the target dynamic node.

[0114] Based on the content of the above embodiment, as an optional embodiment, the local dynamic node is provided with a time-to-digital converter for measuring the periods of the clock signals of the local dynamic node and the target dynamic node.

[0115] Figure 7 is the physical structure schematic diagram of the electronic device provided by the application, as Figure 7 shown, the electronic device can include: a processor 710, a communications interface 720, a memory 730 and a communications bus 740, wherein the processor 710, the communications interface 720, the memory 730 complete mutual communication through the communications bus 740. The processor 710 can call the logic instructions in the memory 730 to execute the wireless dynamic dual-node frequency synchronization method provided by the above-mentioned method, which includes: receiving the clock signal sent by the target dynamic node, and determining the period of the clock signal of the target dynamic node; determining the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node; based on the deviation, the PID algorithm is calculated, and the crystal oscillator frequency of the local dynamic node is synchronized according to the calculation result.

[0116] In addition, the logic instructions in the memory 730 described above can be realized in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product stored in a storage medium includes a plurality of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in the embodiments of the application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0117] In another aspect, the present application also provides a computer program product comprising a computer program, which can be stored on a non-transitory computer readable storage medium, and the computer program is executable by a processor to enable a computer to perform the wireless dynamic dual-node frequency synchronization method provided by the above-mentioned methods, which comprises: receiving a clock signal sent by a target dynamic node, and determining a period of the clock signal of the target dynamic node; determining a deviation between a period of a clock signal of a local dynamic node and the period of the clock signal of the target dynamic node; performing a PID algorithm calculation based on the deviation, and synchronizing a crystal oscillator frequency of the local dynamic node according to a calculation result.

[0118] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, which is executable by a processor to implement a wireless dynamic dual-node frequency synchronization method provided by the above-mentioned methods, which comprises: receiving a clock signal sent by a target dynamic node, and determining a period of the clock signal of the target dynamic node; determining a deviation between a period of a clock signal of a local dynamic node and the period of the clock signal of the target dynamic node; performing a PID algorithm calculation based on the deviation, and synchronizing a crystal oscillator frequency of the local dynamic node according to a calculation result.

[0119] The device embodiments described above are only schematic, wherein the units illustrated as separate components can or can not be physically separate, and the components illustrated as units can or can not be physical units, i.e., can be located in one place or can be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0120] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0121] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A wireless dynamic two-node frequency synchronization method, characterized by, The method comprises the following steps: receiving a clock signal sent by a target dynamic node, and determining a period of the clock signal of the target dynamic node; determining a deviation between a period of a clock signal of a local dynamic node and the period of the clock signal of the target dynamic node; performing PID algorithm calculation based on the deviation, and synchronizing the crystal oscillator frequency of the local dynamic node according to the calculation result; the PID algorithm adopts an incremental PID algorithm; the PID algorithm calculation based on the deviation and the synchronization of the crystal oscillator frequency of the local dynamic node according to the calculation result comprises: taking the deviation as an input of the incremental PID algorithm to obtain a target reference quantity; and synchronizing the crystal oscillator frequency of the local dynamic node based on the target reference quantity; the synchronization of the crystal oscillator frequency of the local dynamic node based on the target reference quantity comprises: calculating a target correction voltage based on the target reference quantity; converting the target correction voltage into an analog voltage through digital-to-analog conversion; inputting the analog voltage into a voltage-controlled crystal oscillator of the local dynamic node to adjust the crystal oscillator frequency output by the voltage-controlled crystal oscillator, so as to synchronize the frequencies of the local dynamic node and the target dynamic node.

2. The wireless dynamic dual-node frequency synchronization method of claim 1, wherein, the determination of the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node comprises: in the case that the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node are valid, calculating the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node.

3. The method of claim 1, wherein, the target reference quantity is calculated by the following formula: Δu = K P (e(k) - e(k-1)) + K I *e(k) + K D (e(k) - 2e(k-1) + e(k-2)); Wherein, Δu represents the target reference quantity; e(k) represents the deviation between the period of the clock signal of the local dynamic node and the period of the clock signal of the target dynamic node at k moment; K P represents the proportional amplification coefficient; K I represents the integral amplification coefficient; K D represents the differential amplification coefficient.

4. The method of claim 1-3, wherein, the local dynamic node is provided with a time-to-digital converter for measuring the periods of the clock signals of the local dynamic node and the target dynamic node.

5. A wireless dynamic dual-node frequency synchronization apparatus, characterized by, The method comprises the following steps: a receiving module is configured to receive a clock signal sent by a target dynamic node, and determine a period of the clock signal of the target dynamic node; a processing module is configured to determine a deviation between a period of a clock signal of a local dynamic node and the period of the clock signal of the target dynamic node; a synchronization module is configured to perform PID algorithm calculation based on the deviation, and synchronize the crystal oscillator frequency of the local dynamic node according to the calculation result; the PID algorithm adopts an incremental PID algorithm; the PID algorithm calculation based on the deviation and the synchronization of the crystal oscillator frequency of the local dynamic node according to the calculation result comprises: taking the deviation as an input of the incremental PID algorithm to obtain a target reference quantity; and synchronizing the crystal oscillator frequency of the local dynamic node based on the target reference quantity; The synchronizing the local dynamic node's crystal frequency based on the target reference quantity comprises: calculating a target correction voltage based on the target reference quantity; converting the target correction voltage into an analog voltage through digital-to-analog conversion; inputting the analog voltage into a voltage-controlled crystal oscillator of the local dynamic node; adjusting a crystal frequency output by the voltage-controlled crystal oscillator to synchronize the frequency of the local dynamic node with that of the target dynamic node.

6. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the wireless dynamic dual-node frequency synchronization method of any one of claims 1 to 4 when executing the program.

7. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program implements the wireless dynamic dual-node frequency synchronization method of any one of claims 1 to 4 when executed by the processor.

8. A computer program product comprising a computer program, characterized in that, The computer program implements the wireless dynamic dual-node frequency synchronization method of any one of claims 1 to 4 when executed by the processor. The computer program implements the wireless dynamic dual-node frequency synchronization method of any one of claims 1 to 4 when executed by the processor.

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