High-precision system time synchronization method based on Beidou astronomical time

Abstract

The invention discloses a high-precision system time synchronization method based on Beidou astronomical time, and the method comprises the steps: selecting a node in a system as a main node, and constructing a time synchronization instruction through the main node; the master node sends the time synchronization instruction to other slave nodes in the system; after each slave node receives the time synchronization instruction, based on the current Beidou astronomical time obtained by each slave node, determining the communication time delay of the time synchronization instruction sent by the master node received by the slave node; and each slave node determines the current working time of the slave node based on the communication time delay, and the current time is consistent with the current working time of the master node, so that the system time synchronization is realized. Any node in the system can serve as a main node to send a time synchronization instruction to other nodes to carry out system time synchronization, and on the premise that an original hardware architecture of the system is not changed, the time synchronization error of all the nodes of the system under any specified time reference can be not larger than 0.1 second only through optimization and improvement of the time synchronization instruction and a time synchronization processing method.

Description

Technical Field

[0001] The present invention relates to the field of information control technology, and in particular to a high-precision system time synchronization method based on Beidou astronomical time. Background Art

[0002] When nodes in a system work together to complete a task, a master node often needs to send a "time synchronization command" to all other slave nodes to synchronize the system's time. Each node then uses this designated time as a benchmark to perform its own tasks, achieving system-wide collaborative operation. However, due to differences in communication distances and operating environments between system nodes, the transmission delay of the system's "time synchronization command" can vary significantly, making it difficult to unify the time bases of the system nodes and failing to meet the system's requirement for a time synchronization error of no more than 0.1 seconds. While using Beidou astronomical time can achieve a unified time base and the required time accuracy, it only works within the Beidou astronomical time base and cannot work under any other time base. Summary of the Invention

[0003] The purpose of the present invention is to provide a high-precision system timing method based on Beidou astronomical time, so as to solve the requirement that each node in the system can achieve a system timing error of no more than 0.1 second under any specified time reference.

[0004] In order to achieve the above tasks, the present invention adopts the following technical solutions:

[0005] A high-precision system time synchronization method based on Beidou astronomical time, comprising:

[0006] A node in the system is selected as the master node, and the master node constructs the timing instruction;

[0007] The master node sends the time synchronization instruction to other slave nodes in the system;

[0008] After receiving the time synchronization instruction, each slave node determines the communication delay for the slave node to receive the time synchronization instruction sent by the master node based on the current Beidou astronomical time obtained by each slave node;

[0009] Each slave node determines the current working time of the slave node based on the communication delay, and the current time is consistent with the current working time of the master node, thereby achieving system time synchronization.

[0010] Furthermore, each node in the system includes a controller, an actuator, a Beidou receiver and a radio; wherein, the nodes of the system communicate with each other through the radio, and the controller of each node is responsible for obtaining the Beidou astronomical time through the Beidou receiver, sending and receiving time synchronization instructions with each node through the radio, calculating the current working time and setting it as the working time of this node, and controlling the operation of the actuator through the controller.

[0011] Furthermore, the master node constructs a time synchronization instruction, specifically:

[0012] The controller in the master node sets the time synchronization time T1 and obtains the Beidou astronomical time T through the Beidou receiver. b1 ; Encapsulate the timing instruction, the instruction data content includes T1 and T b1 and sends the timing instructions to other slave nodes in the system via the radio.

[0013] Furthermore, based on the current Beidou astronomical time obtained by each slave node, determining the communication delay for the slave node to receive the time synchronization instruction sent by the master node includes:

[0014] When node N receives the time synchronization instruction, the controller in node N obtains the current Beidou astronomical time as T through the Beidou receiver. bN , then the communication delay Δt N =T bN -T1.

[0015] Furthermore, each slave node determines a current working time of the slave node based on the communication delay, including:

[0016] The controller in node N calculates the current time T of the node N =T1+(T bN -T b1 ), and the current time T N Set to the current working time of node N.

[0017] Furthermore, the format of the synchronization time T1 is: year, month, day, hour, minute, second; the format of the Beidou astronomical time is: year, month, day, hour, minute, second, millisecond.

[0018] A terminal device includes a processor, a memory, and a computer program stored in the memory; when the processor executes the computer program, the high-precision system time synchronization method based on Beidou astronomical time is implemented.

[0019] A computer-readable storage medium stores a computer program; when the computer program is executed by a processor, the high-precision system time synchronization method based on Beidou astronomical time is implemented.

[0020] Compared with the prior art, the present invention has the following technical features:

[0021] Any node in the system can act as a master node to send synchronization instructions to other nodes to synchronize the system. Without changing the original hardware architecture of the system, only by optimizing and improving the synchronization instructions and synchronization processing methods, the synchronization error of each node in the system can be achieved to no more than 0.1 seconds under any specified time base. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of system composition and information access;

[0023] Figure 2 This is a flow chart of a high-precision system time synchronization method based on Beidou astronomical time. DETAILED DESCRIPTION

[0024] With the rapid development and popularization of the BeiDou satellite navigation system, each node in the system is equipped with a BeiDou receiver. By utilizing these BeiDou receivers, a high-precision system timing method based on BeiDou astronomical time can be designed. This method ensures that multiple nodes in the system operate within a specified time reference, regardless of communication distance and operating environment, with a system timing error of no more than 0.1 second. The system is composed of nodes equipped with BeiDou receivers, where the nodes can be vehicles, aircraft, etc., and the system can be various mission systems.

[0025] like Figure 1 As shown, the system consists of N nodes, each of which includes a controller, an actuator, a Beidou receiver, and a radio. The nodes in the system communicate with each other through the radio. The controller of each node is responsible for obtaining Beidou astronomical time through the Beidou receiver, sending and receiving time synchronization instructions with each node through the radio, calculating the current time and setting it as the local working time, and controlling the actuator to work (for example, for preset tasks) through the controller. Each node in the system must meet the requirement that the system time error is no more than 0.1 second under any specified time base. The method of the present invention is as follows:

[0026] In the first step, a node I in the system is selected as the master node, and the other nodes are slave nodes. When node I is ready to send the system time synchronization command, the controller I in node I first sets a specific time synchronization time T1 (year, month, day, hour, minute, second), and at the same time obtains the Beidou astronomical time T through the Beidou receiver. b1 (year, month, day, hour, minute, second, millisecond).

[0027] The second step is to encapsulate the "time synchronization instruction", the instruction data content includes T1 and T b1 and send the “time synchronization command” to other slave nodes in the system via the radio;

[0028] Assume that the communication delay of node II receiving the “time synchronization command” sent by node I is Δt2 (unit: milliseconds); the communication delay of node N receiving the “time synchronization command” sent by node I is Δt N (Unit: milliseconds);

[0029] In the third step, when node II receives the “time synchronization command”, controller II in node II obtains the current Beidou astronomical time T through the Beidou receiver. b2(year, month, day, hour, minute, second, millisecond), then Δt2=T b2 -T1; When node N receives the "time synchronization command", controller N obtains the current Beidou astronomical time T through the Beidou receiver bN (year, month, day, hour, minute, second, millisecond), then Δt N =T bN -T1.

[0030] Step 4: Controller II calculates the current time of node II, T2 = T1 + (T b2 -T b1 )(precision: milliseconds), and set it as the current working time of node II; controller N calculates the current time T of node N N =T1+(T bN -T b1 )(precision: milliseconds), and set it as the current working time of node N;

[0031] At this time, the current working time of node II and node N is consistent with the current working time of node I, and the accuracy is at the millisecond level, satisfying the requirement that each node in the system is under the T1 time base and the system timing error is no more than 0.1 second.

[0032] The present invention is applicable to a system in which each node has a different usage environment but requires each node to work together under any specified time reference and has a high time precision requirement.

[0033] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A high-precision system time synchronization method based on Beidou astronomical time, characterized in that: include: A node in the system is selected as the master node, and the master node constructs the timing instruction; The master node sends the time synchronization instruction to other slave nodes in the system; After receiving the time synchronization instruction, each slave node determines the communication delay for the slave node to receive the time synchronization instruction sent by the master node based on the current Beidou astronomical time obtained by each slave node; Each slave node determines the current working time of the slave node based on the communication delay, and the current time is consistent with the current working time of the master node, thereby achieving system time synchronization.

2. The high-precision system time synchronization method based on Beidou astronomical time according to claim 1, characterized in that: Each node in the system includes a controller, an actuator, a Beidou receiver, and a radio. The system nodes communicate with each other via the radio. The controller of each node is responsible for obtaining Beidou astronomical time through the Beidou receiver, sending and receiving time synchronization instructions with each node via the radio, calculating the current working time and setting it as the working time of this node, and controlling the operation of the actuator through the controller.

3. The high-precision system time synchronization method based on Beidou astronomical time according to claim 1, characterized in that: The master node constructs the time synchronization instruction, specifically: The controller in the master node sets the time synchronization time T1 and obtains the Beidou astronomical time T through the Beidou receiver. b1 ; Encapsulate the timing instruction, the instruction data content includes T1 and T b1 and sends the timing instructions to other slave nodes in the system via the radio.

4. The high-precision system time synchronization method based on Beidou astronomical time according to claim 1, characterized in that: Based on the current Beidou astronomical time obtained by each slave node, the communication delay for the slave node to receive the time synchronization command sent by the master node is determined, including: When node N receives the time synchronization instruction, the controller in node N obtains the current Beidou astronomical time as T through the Beidou receiver. bN , then the communication delay Δt N =T bN -T1.

5. The high-precision system time synchronization method based on Beidou astronomical time according to claim 1, characterized in that: Each slave node determines the current working time of the slave node based on the communication delay, including: The controller in node N calculates the current time T of the node N =T1+(T bN -T b1 ), and the current time T N Set to the current working time of node N.

6. The high-precision system time synchronization method based on Beidou astronomical time according to claim 1, characterized in that: The format of the synchronization time T1 is: year, month, day, hour, minute, second; the format of the Beidou astronomical time is: year, month, day, hour, minute, second, millisecond.

7. A terminal device comprising a processor, a memory, and a computer program stored in the memory; characterized in that: When the processor executes the computer program, it implements the high-precision system time synchronization method based on Beidou astronomical time according to any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program; wherein: When the computer program is executed by a processor, the high-precision system time synchronization method based on Beidou astronomical time according to any one of claims 1 to 6 is implemented.

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