A universal time synchronization method and device for digital twin networks

Abstract

This invention discloses a universal time synchronization method and device for digital twin networks. Based on a synchronization strategy based on two-way message exchange, the method modulates synchronization information for scenarios where the two-way delay is fixed, linear, or nonlinear. Multiple measurements are performed to collect multiple sets of synchronization data, which are then demodulated to achieve high-precision time synchronization. This method extends high-precision time synchronization from static networks to general networks, offering a wider range of applications than traditional network time synchronization methods targeting fixed transmission delays, and can achieve high-precision time synchronization.

Description

Technical Field

[0001] The present invention relates to the field of network communication technology, and in particular to a universal time synchronization method and device for digital twin networks. Background Art

[0002] With the continued expansion of communication network bandwidth demands and increasingly stringent latency requirements, building accurate digital twin network models has become crucial for achieving efficient network analysis, automated control, and performance optimization. In this context, in-depth research on high-precision time synchronization technologies for common application scenarios, providing a stable and reliable time base for digital twin models, is of great theoretical and practical significance. The Network Time Protocol (NTP), part of the TCP / IP protocol suite, is a popular solution for low-cost, large-scale network synchronization. Another approach used in commercial networks is the Precision Time Protocol (PTP), specified in the IEEE 1588v2 protocol. This approach organizes clocks into multiple PTP time domains. Within each time domain, a clock connected to a GPS receiver or atomic clock (i.e., a GMC) is selected as the time and frequency source. Other clocks in the same time domain are organized into a tree-like master-slave structure based on their distance from the GMC, with each clock synchronizing with its parent master.

[0003] Both of the above methods are synchronization strategies based on bidirectional message exchange, designed for scenarios where the two-way delay is fixed. When communication networks transition from static to general networks, new challenges arise. Traditional time synchronization theories designed for fixed transmission delays are no longer applicable, necessitating the exploration of effective synchronization strategies for general networks. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the present invention proposes a universal time synchronization method for digital twin networks. Based on the synchronization strategy of two-way message exchange, the synchronization information is modulated for scenarios such as fixed, linear, and nonlinear bidirectional delays. Multiple sets of synchronization data are collected through multiple measurements and demodulated, thereby reducing the synchronization error caused by limited clock resolution and achieving high-precision time synchronization.

[0006] Another object of the present invention is to provide a universal time synchronization device for digital twin networks.

[0007] To achieve the above objectives, the present invention proposes a universal time synchronization method for digital twin networks, comprising:

[0008] The transmitting and receiving ends send synchronization pulses to each other;

[0009] Define the pulse transmission interval and system clock period of the transmitter and receiver respectively;

[0010] Based on the defined pulse emission interval and system clock period, the synchronization pulse is modulated under the preset two-way delay scenario to obtain multiple uniformly distributed reading errors;

[0011] The pulse sending time and pulse receiving time of the transmitting end and the pulse sending time and pulse receiving time of the receiving end are obtained respectively, and the synchronization information corresponding to multiple consecutive synchronization pulses is demodulated using the multiple evenly distributed reading errors to achieve high-precision time synchronization.

[0012] The universal time synchronization method of the embodiment of the present invention may also have the following additional technical features:

[0013] In one embodiment of the present invention, the modulation method includes one or more of adjusting the clock period, adjusting the synchronization pulse transmission interval, and adjusting the receiving delay; the demodulation method includes mapping multiple measurement data into an estimated value through a set demodulation function.

[0014] In one embodiment of the present invention, the method further includes defining an equivalent pulse emission interval The actual pulse transmission interval T of the transmitter sync and the time-varying nature of the propagation delay τ(t), namely Define the system clock period of the receiving end as T clk , define n1, n2 as and T clk The simplest integer ratio of

[0015] In one embodiment of the present invention, in a scenario where the two-way delay is constant, two fixed nodes are defined: nodes x and y, and the system clock period of the receiving end is T clk , the two nodes send synchronization pulses to each other for synchronization, and the actual pulse transmission interval is T sync , the equivalent pulse emission interval is have The modulation method in the corresponding scenario is to adjust the pulse transmission interval T sync and the node's system clock period T clk , and get n a A uniformly distributed reading error.

[0016] In one embodiment of the present invention, in a scenario where the two-way delay is constant, the pulse transmission time of node x is recorded as t1, the pulse reception time of node y is recorded as t2, the pulse transmission time of node y is recorded as t3, and the pulse reception time of node x is recorded as t4; the synchronization information corresponding to n2 consecutive synchronization pulses is recorded and demodulated, and the multiple measurement data is mapped to an estimated value using a set demodulation function. The time correction value of node y relative to node x is obtained based on the statistical averaging method as follows:

[0017]

[0018] Where ε is a small error quantity, satisfying |ε| <T clk / 2n2.

[0019] In one embodiment of the present invention, in a scenario where the two-way delay varies linearly, two nodes are defined: nodes x and y. The system clock period of the receiving end is T clk , the two nodes send synchronization pulses to each other for synchronization, and the actual pulse transmission interval is T sync , the propagation delay rate of the synchronization pulse is a constant τ, and the equivalent pulse transmission interval is have The modulation method in the corresponding scenario is to adjust the pulse transmission interval T based on the propagation delay change rate τ of the synchronization pulse sync and the node's system clock period T clk , and obtain n2 uniformly distributed reading errors.

[0020] In one embodiment of the present invention, in a scenario where the two-way delay varies linearly, the pulse transmission time of node x is recorded as t1, the pulse reception time of node y is recorded as t2, the pulse transmission time of node y is recorded as t3, and the pulse reception time of node x is recorded as t4. The time information corresponding to n2 consecutive synchronization pulses is recorded and demodulated. The multiple measurement data are mapped to an estimated value using a predetermined demodulation function. The time correction value of node y relative to node x is obtained based on the statistical averaging method as follows:

[0021]

[0022] Where ε is a small error quantity, satisfying |ε| <T clk / 2n2.

[0023] In one embodiment of the present invention, in a scenario where the two-way delay varies nonlinearly, two nodes are defined: nodes x and y. The system clock period of the receiving end is t clk , the two nodes send synchronization pulses to each other for synchronization, and the actual pulse transmission interval is T syncThe propagation delay rate of the synchronization pulse is a linear function of time t, τ(t) = at + b, where a and b are constants; the equivalent pulse transmission interval is have Define n3:n4=(b·T sync ):T clk , n5:n6=(a·T sync ):b, then n1:n2=(n3·n5):(n4·n6); the synchronization method in the corresponding scenario is to adjust the pulse transmission interval T based on the propagation delay change rate τ(t)=at+b of the synchronization pulse sync and the node's system clock period T clk , and obtain n2 uniformly distributed reading errors.

[0024] In one embodiment of the present invention, in a scenario where the two-way delay varies nonlinearly, the pulse transmission time of node x is recorded as t1, the pulse reception time of node y is recorded as t2, the pulse transmission time of node y is recorded as t3, and the pulse reception time of node x is recorded as t4. The time information corresponding to n2 consecutive synchronous pulses is recorded and demodulated. The multiple measurement data are mapped to an estimated value using a predetermined demodulation function. The time correction value of node y relative to node x is obtained based on the statistical averaging method as follows:

[0025]

[0026] Where ε is a small amount of synchronization error, satisfying |ε| <T clk / 2n2.

[0027] To achieve the above-mentioned purpose, the present invention further proposes a universal time synchronization device for a digital twin network, comprising:

[0028] A synchronization pulse sending module is used to send synchronization pulses between the transmitting end and the receiving end;

[0029] Synchronization condition definition module, used to define the pulse transmission interval and system clock period of the transmitter and receiver respectively;

[0030] A synchronization information modulation module is used to modulate the synchronization pulse in a preset two-way delay scenario based on the defined pulse transmission interval and system clock period to obtain multiple evenly distributed reading errors;

[0031] The synchronization information demodulation module is used to respectively obtain the pulse sending time and pulse receiving time of the transmitting end and the pulse sending time and pulse receiving time of the receiving end, and use the multiple evenly distributed reading errors to demodulate the synchronization information corresponding to multiple consecutive synchronization pulses to achieve high-precision time synchronization.

[0032] The universal time synchronization method and device for digital twin networks in the embodiments of the present invention extend high-precision time synchronization from static networks to general networks. Compared with traditional network time synchronization methods for fixed transmission delays, they have broader application scenarios and can achieve high-precision time synchronization.

[0033] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0035] Figure 1 is a flowchart of a universal time synchronization method for a digital twin network according to an embodiment of the present invention;

[0036] Figure 2 is a logical diagram of a universal time synchronization method for a digital twin network according to an embodiment of the present invention;

[0037] Figure 3 3. It is a diagram showing the results of a simulation experiment on time synchronization accuracy under different synchronization pulse transmission intervals according to an embodiment of the present invention;

[0038] Figure 4 1. A curve showing a change in relative motion speed between nodes in a LEO constellation according to an embodiment of the present invention, and a pulse transmission interval curve obtained based on the relative motion speed adjustment;

[0039] Figure 5 3. It is a diagram showing the results of a simulation experiment on the synchronization accuracy between nodes in a LEO constellation according to an embodiment of the present invention;

[0040] Figure 6 2 is a structural diagram of a universal time synchronization device for a digital twin network according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0043] The following describes a universal time synchronization method and device for a digital twin network proposed according to an embodiment of the present invention with reference to the accompanying drawings.

[0044] Figure 1 is a flow chart of a general time synchronization method for a digital twin network according to an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0045] S1, the transmitter and receiver send synchronization pulses to each other;

[0046] S2, defines the pulse transmission interval and system clock period of the transmitter and receiver respectively;

[0047] S3, based on the defined pulse emission interval and system clock period, modulates the synchronization pulse in a preset two-way delay scenario to obtain multiple uniformly distributed reading errors;

[0048] S4, respectively obtain the pulse sending time and pulse receiving time of the transmitting end and the pulse sending time and pulse receiving time of the receiving end, and use the multiple evenly distributed reading errors to demodulate the synchronization information corresponding to multiple consecutive synchronization pulses to achieve high-precision time synchronization.

[0049] Figure 2 Schematic diagram of a universal time synchronization method for digital twin networks. Pulses are periodically sent between two nodes for synchronization, namely the transmitting node and the receiving node.

[0050] Specifically, this method is applicable to different scenarios such as fixed two-way delay, linear change, and nonlinear change. The specific implementation method of the method of the present invention is as follows:

[0051] In one embodiment of the present invention, the modulation method includes but is not limited to adjusting the clock period (frequency), adjusting the synchronization pulse transmission interval and adjusting the receiving delay, etc.; the demodulation method includes but is not limited to mapping multiple measurement data into an estimated value through a set demodulation function.

[0052] Define the pulse transmission interval and system clock period of the transmitter and receiver respectively. Define the equivalent pulse transmission interval The actual pulse transmission interval T of the transmittersync and the time-varying nature of the propagation delay τ(t), Define the system clock period of the receiving end as T clk , define n1, n2 as and T clk The simplest integer ratio of

[0053] In a scenario where the two-way delay is constant, consider two fixed nodes: nodes x and y. The receiving clock period of these two nodes is the same and is recorded as T clk , the two nodes send synchronization pulses to each other for synchronization, and the sending period of the synchronization pulse is recorded as T sync , the pulse sending time of node x is recorded as t1, the pulse receiving time of node y is recorded as t2, the pulse sending time of node y is recorded as t3, and the pulse receiving time of node x is recorded as t4.

[0054] Define the equivalent pulse emission interval Then there is Then the measurement error of the reception time of the i-th synchronization pulse is:

[0055]

[0056] Among them, 1≤i≤m2, e 1 is the measurement error of the reception time of the first synchronization pulse, e 1 The initial phase difference T0 of the clocks of the two nodes and the propagation time T of the synchronization pulse can be used to calculate the p The joint representation is:

[0057] Record the time information corresponding to n2 consecutive synchronization pulses and take the average to obtain The time correction of node y relative to node x is obtained based on the statistical averaging method:

[0058]

[0059] Where ε is a small amount of synchronization error and satisfies |ε| <T clk / 2n2.

[0060] Furthermore, by reasonably setting the pulse emission interval T sync and the node's system clock period T clk , we can get n2 much larger than 1, so that ε can be ignored, and then the calculation of the time correction is simplified to:

[0061]

[0062] This enables high-precision time synchronization.

[0063] In the scenario of linear variation of two-way delay, consider two nodes: node x and node y, whose system clock period is the same and is recorded as T clk , the two nodes send synchronization pulses to each other for synchronization, and the sending period of the synchronization pulse is recorded as T sync , denote the propagation delay change rate of the synchronization pulse as a constant τ, denote the pulse sending time of node x as t1, the pulse receiving time of node y as t2, the pulse sending time of node y as t3, and the pulse receiving time of node x as t4.

[0064] Define the equivalent pulse emission interval Then there is Then the measurement error of the reception time of the i-th synchronization pulse is:

[0065]

[0066] Among them, 1≤i≤n2, e 1 is the measurement error of the reception time of the first synchronization pulse, e 1 The initial phase difference T0 between the clocks of the two nodes and the propagation time of the first synchronization pulse can be used The joint representation is:

[0067] Record the time information corresponding to n2 consecutive synchronization pulses and take the average to obtain The time correction of node y relative to node x is obtained based on the statistical averaging method:

[0068]

[0069] Where ε is a small amount of synchronization error and satisfies |ε| <T clk / 2n2.

[0070] Furthermore, based on the propagation delay change rate τ of the synchronization pulse, by reasonably setting the pulse transmission interval T sync and the node's system clock period T clk , we can get n2 much larger than 1, so that ε can be ignored, and then the calculation of the time correction is simplified to:

[0071]

[0072] This enables high-precision time synchronization.

[0073] In the scenario of nonlinear bidirectional delay variation, consider two nodes: node x and node y. The system clock periods of these two nodes are the same and are both T clk , the two nodes send synchronization pulses to each other for synchronization, and the sending period of the synchronization pulse is recorded as T syncThe propagation delay change rate of the synchronization pulse is expressed as a function of time t, τ(t) = at + b, where a and b are constants. The pulse transmission time of node x is t1, the pulse reception time of node y is t2, the pulse transmission time of node y is t3, and the pulse reception time of node x is t4.

[0074] Define the equivalent pulse emission interval Then there is Define n3:n4=(b·T sync ):T clk , n5:n6=(a·T sync ):b, then n1:n2=(n3·n5):(n4·n6). Then the measurement error of the reception time of the i-th synchronization pulse is:

[0075]

[0076] Among them, 1≤i≤n2, e 1 is the measurement error of the reception time of the first synchronization pulse, e 1 The initial phase difference T0 between the clocks of the two nodes and the propagation time of the first synchronization pulse can be used The joint representation is:

[0077] Record the time information corresponding to n2 consecutive synchronization pulses and take the average to obtain The time correction of node y relative to node x is obtained based on the statistical averaging method:

[0078]

[0079] Where ε is a small amount of synchronization error and satisfies |ε| <T clk / 2n2.

[0080] Furthermore, based on the propagation delay change rate of the synchronization pulse τ(t)=at+b, by reasonably setting the pulse transmission interval T sync and the node's system clock period T clk , we can get n2 much larger than 1, so that ε can be ignored, and then the calculation of the time correction is simplified to:

[0081]

[0082] This enables high-precision time synchronization.

[0083] In one embodiment of the present invention, consider two nodes x and y that are moving relative to each other at a constant speed v = 1 km / s. The system clock periods of the two nodes are the same and are set to T clk= 20ns, the two nodes send synchronization pulses to each other for synchronization, and the propagation speed of the synchronization pulse is set to the speed of light in vacuum c = 3×10 5 km / s. The sending period of the synchronization pulse is recorded as T sync , at this time the equivalent pulse emission interval Then there is

[0084] Assume that the synchronization pulse sending period is T sync The value range is 3ms~9ms, with a value step of 0.05ms. sync The value corresponds to different n2. For example, when T sync =6ms, n2=1, then the synchronization error is small and will approach T in the worst case. clk / 2=10ns; and when T sync When n = 3.05 ms, n2 = 120, the synchronization error ε is negligible, and even in the worst case, sub-nanosecond time synchronization accuracy can still be achieved.

[0085] Figure 3 The simulation results based on the above parameter settings are given. The synchronization method proposed by the present invention is used. When T sync = 6ms, the worst case synchronization error is 9.990ns; and when T sync =3.05ms, the worst-case synchronization error is only 0.083ns.

[0086] In one embodiment of the present invention, a low-Earth orbit (LEO) Walker constellation is considered with a constellation configuration of 256 / 16 / 1, an orbital inclination of 53°, and an orbital altitude of 550 km. Time synchronization is performed on two satellites in adjacent orbits with adjacent phases. The system clock periods of the two satellites are the same and are set to T clk = 20ns, the two satellites send synchronization pulses to each other for synchronization, and the propagation speed of the synchronization pulse is set to the speed of light in vacuum c = 3×10 5 km / s. The initial phase difference between the two satellite clocks is set to 0.1ns.

[0087] The sending period of the synchronization pulse is recorded as T sync , with n2 = 100 as the target, the synchronization pulse transmission interval T is set based on the inter-satellite relative motion speed v sync Since the relative motion speed between stars maintains periodic changes, it is necessary to adjust T in real time. sync . Figure 4 The curve of the inter-satellite relative motion velocity changing with time based on the above parameter configuration is given, as well as the pulse emission interval curve calculated based on the relative motion velocity at different times.

[0088] Figure 5 The simulation results based on the above parameter settings are given. Compared with the traditional synchronization method with a fixed synchronization pulse transmission interval, the worst-case synchronization error of the proposed method is reduced from 6.80ns to 0.70ns, achieving sub-nanosecond time synchronization.

[0089] The synchronization experiment results show that by using the universal time synchronization method for digital twin networks proposed in this invention, combining the relative motion of dynamic nodes with statistical methods, and reasonably setting the sending period of synchronization pulses, the synchronization error caused by the relative motion between nodes and the limited clock resolution can be reduced, and the synchronization accuracy can be significantly improved.

[0090] According to an embodiment of the present invention, a universal time synchronization method for digital twin networks is based on a synchronization strategy based on two-way message exchange. It modulates synchronization information for scenarios such as fixed, linear, and nonlinear bidirectional delays. Multiple sets of synchronization data are collected through multiple measurements and demodulated to reduce synchronization errors caused by limited clock resolution. This invention extends high-precision time synchronization from static networks to general networks, offering a broader range of applications than traditional network time synchronization methods for fixed transmission delays, and enabling high-precision time synchronization.

[0091] In order to implement the above embodiment, Figure 6 As shown, this embodiment also provides a universal time synchronization device 10 for a digital twin network, including:

[0092] The synchronization pulse sending module 100 is used to send synchronization pulses between the transmitting end and the receiving end;

[0093] A synchronization condition definition module 200 is used to define the pulse transmission interval and system clock period of the transmitter and the receiver respectively;

[0094] The synchronization information modulation module 300 is used to modulate the synchronization pulse in a preset two-way delay scenario based on the defined pulse transmission interval and the system clock period to obtain multiple uniformly distributed reading errors;

[0095] The synchronization information demodulation module 400 is used to respectively obtain the pulse sending time and pulse receiving time of the transmitting end and the pulse sending time and pulse receiving time of the receiving end, and use the multiple uniformly distributed reading errors to demodulate the synchronization information corresponding to multiple consecutive synchronization pulses to achieve high-precision time synchronization.

[0096] According to an embodiment of the present invention, a universal time synchronization device for digital twin networks uses a synchronization strategy based on two-way message exchange. It modulates synchronization information for scenarios such as fixed, linear, and nonlinear bidirectional delays. Multiple sets of synchronization data are collected through multiple measurements and demodulated to reduce synchronization errors caused by limited clock resolution. This invention extends high-precision time synchronization from static networks to general networks, offering a broader range of applications than traditional network time synchronization methods for fixed transmission delays, and enabling high-precision time synchronization.

[0097] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0098] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

Claims

1. A universal time synchronization method for digital twin networks, characterized in that: include: The transmitting and receiving ends send synchronization pulses to each other; Define the pulse transmission interval and system clock period of the transmitter and receiver respectively; Based on the defined pulse emission interval and system clock period, the synchronization pulse is modulated under the preset two-way delay scenario to obtain multiple uniformly distributed reading errors; The pulse sending time and pulse receiving time of the transmitting end and the pulse sending time and pulse receiving time of the receiving end are obtained respectively, and the synchronization information corresponding to multiple consecutive synchronization pulses is demodulated using the multiple evenly distributed reading errors to achieve high-precision time synchronization.

2. The method according to claim 1, characterized in that The modulation method includes one or more of adjusting the clock cycle, adjusting the synchronization pulse transmission interval, and adjusting the receiving delay; the demodulation method includes mapping multiple measurement data into an estimated value through a set demodulation function.

3. The method according to claim 2, characterized in that The method further includes defining an equivalent pulse emission interval The actual pulse transmission interval T of the transmitter sync and the time-varying nature of the propagation delay τ(t), namely Define the system clock period of the receiving end as T clk , define n1, n2 as and T clk The simplest integer ratio of 4. The method according to claim 3, characterized in that In a scenario where the two-way delay is constant, two fixed nodes are defined: nodes x and y, and the system clock period of the receiving end is T clk , the two nodes send synchronization pulses to each other for synchronization, and the actual pulse transmission interval is T sync , the equivalent pulse emission interval is have The modulation method in the corresponding scenario is to adjust the pulse transmission interval T sync and the node's system clock period T clk , and obtain n2 uniformly distributed reading errors.

5. The method according to claim 4, characterized in that In the scenario where the two-way delay is fixed, the pulse transmission time of node x is recorded as t1, the pulse reception time of node y is recorded as t2, the pulse transmission time of node y is recorded as t3, and the pulse reception time of node x is recorded as t4. The synchronization information corresponding to n2 consecutive synchronization pulses is recorded and demodulated. The multiple measurement data are mapped into an estimated value through the set demodulation function. The time correction of node y relative to node x is obtained based on the statistical averaging method: Where ε is a small error quantity, satisfying |ε| <T clk / 2n2.

6. The method according to claim 3, characterized in that In the scenario of linear variation of two-way delay, two nodes are defined: node x and node y, and the system clock period of the receiving end is T clk , the two nodes send synchronization pulses to each other for synchronization, and the actual pulse transmission interval is T sync , the propagation delay rate of the synchronization pulse is a constant τ, and the equivalent pulse transmission interval is have The modulation method in the corresponding scenario is to adjust the pulse transmission interval T based on the propagation delay change rate τ of the synchronization pulse sync and the node's system clock period T clk , and obtain n2 uniformly distributed reading errors.

7. The method according to claim 6, characterized in that In the scenario where the two-way delay varies linearly, the pulse transmission time of node x is recorded as t1, the pulse reception time of node y is recorded as t2, the pulse transmission time of node y is recorded as t3, and the pulse reception time of node x is recorded as t4. The time information corresponding to b2 consecutive synchronization pulses is recorded and demodulated. The multiple measurement data are mapped into an estimated value through the set demodulation function. The time correction of node y relative to node x is obtained based on the statistical averaging method: Where ε is a small error quantity, satisfying |ε| <T clk / 2n2.

8. The method according to claim 3, characterized in that In the scenario of nonlinear bidirectional delay variation, two nodes are defined: nodes x and y, and the system clock period of the receiving end is T clk , the two nodes send synchronization pulses to each other for synchronization, and the actual pulse transmission interval is T sync The propagation delay rate of the synchronization pulse is a linear function of time t, τ(t) = at + b, where a and b are constants; the equivalent pulse transmission interval is have Define b3:b4=(b·T sync ):T clk , n5:n6=(a·T sync ):b, then n1:n2=(n3·n5):(n4·n6); the synchronization method in the corresponding scenario is: based on the propagation delay change rate of the synchronization pulse τ(t)=at+b, adjust the pulse transmission interval T sync and the node's system clock period T clk , and obtain n2 uniformly distributed reading errors.

9. The method according to claim 8, characterized in that In the scenario of nonlinear two-way delay variation, the pulse transmission time of node x is recorded as t1, the pulse reception time of node y is recorded as t2, the pulse transmission time of node y is recorded as t3, and the pulse reception time of node x is recorded as t4. The time information corresponding to n2 consecutive synchronous pulses is recorded and demodulated. The multiple measurement data are mapped into an estimated value through the set demodulation function. The time correction of node y relative to node x is obtained based on the statistical averaging method: Where ε is a small amount of synchronization error, satisfying |ε| <T clk / 2n2.

10. A universal time synchronization device for digital twin networks, characterized in that: include: A synchronization pulse sending module is used to send synchronization pulses between the transmitting end and the receiving end; Synchronization condition definition module, used to define the pulse transmission interval and system clock period of the transmitter and receiver respectively; A synchronization information modulation module is used to modulate the synchronization pulse in a preset two-way delay scenario based on the defined pulse transmission interval and system clock period to obtain multiple evenly distributed reading errors; The synchronization information demodulation module is used to respectively obtain the pulse sending time and pulse receiving time of the transmitting end and the pulse sending time and pulse receiving time of the receiving end, and use the multiple evenly distributed reading errors to demodulate the synchronization information corresponding to multiple consecutive synchronization pulses to achieve high-precision time synchronization.

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