239 results about "Master clock" patented technology

The invention discloses a vehicle-mounted cross-protocol data time sequence cooperative processing method, which comprises the following steps: establishing a unified time reference, and providing an accurate space-time coordinate system for heterogeneous network nodes by electing a global master clock and constructing a clock relation model and a periodic correction mechanism; systematic cognition and management of communication resources are realized, and a verified protocol capability table is generated by automatically identifying protocol types and variants; constructing an automatic mapping system from demand to execution, performing formalized packaging on a target scene by introducing a unified intermediate model, generating a cross-protocol mapping rule based on the model and a protocol capability table, and then forming a global scheduling table in combination with a unified time reference; the cooperative communication of all nodes is finally realized by using the global scheduling table, and the end-to-end delay is constrained within the preset range, so that the problem that the end-to-end time sequence in the vehicle-mounted heterogeneous network is uncontrollable is solved, and the controllability and reliability of the time sequence of the vehicle-mounted network are improved.

The invention provides a multi-sensor fusion robot grabbing path planning method and device, and relates to the field of automation. The method comprises the following steps: constructing a first time correction relation based on observation parameters of a multi-source sensor; correcting the relation based on the first time; inputting the hardware timestamp synchronized to the master clock source into the extended state estimation model; iteratively updating the observation parameters of the multi-source sensor based on the extended state estimation model, and constructing a second time correction relation according to the updated observation parameters of the multi-source sensor; constructing a pose continuous time trajectory function corresponding to the target robot based on the second time correction relation; the continuous time trajectory function and the multi-source sensor observation parameters serve as input, and a grabbing path corresponding to the target robot is output through a time sequence consistency constrained joint optimization model; and controlling the target robot to execute grabbing operation based on the grabbing path. The problem that in the prior art, the precision of a robot grabbing path is low is solved.

The invention relates to the technical field of network communication, in particular to a logistics equipment unified access method based on multi-protocol conversion. The specific implementation process comprises: establishing a model comprising a source logistics device, a target logistics device, a protocol conversion gateway and a time-sensitive network, wherein the time-sensitive network comprises a network master clock; the protocol conversion gateway and the network master clock are periodically synchronized, an original data packet of the source logistics equipment is analyzed, and data content and a source identifier containing a time sequence relation are extracted; through an adaptive mapping rule, mapping the data content and the source identifier into a time-sensitive network traffic category containing predetermined traffic, and obtaining a gating scheduling strategy of the time-sensitive network traffic category; and the data content is converted and packaged into a time-sensitive network data frame, and the time-sensitive network data frame is sent to the target logistics equipment according to a gating scheduling strategy. According to the invention, the access accuracy and stability of the logistics equipment are realized by fusing protocol conversion and the time-sensitive network.

The invention discloses an SLAM-oriented multi-sensor space-time synchronization and online calibration method, and relates to the technical field of computer vision and robot perception. Comprising the steps that S100, initialization is carried out, and an initial pose and an external parameter transformation matrix initial value are obtained through coarse alignment; s200, data acquisition and preprocessing: acquiring IMU data, LiDAR data and Odom data in real time, and performing data filtering, distortion removal, time sequence correction and point cloud downsampling processing on the acquired data; and S300, performing time synchronization processing, estimating the time offset of the LiDAR and Odom data in real time, and performing unified correction to generate a unified timestamp. According to the method, an online time offset estimation and compensation mechanism with an IMU as a main clock is established, accurate synchronization of sensor data of different frequencies is achieved, and the problem of data alignment caused by sampling frequency difference and clock drift is effectively solved; and meanwhile, tight coupling fusion is realized by using an IMU pre-integration factor, a LiDAR residual factor and an Odom constraint factor, so that the space-time consistency of multi-sensor data is remarkably improved.

The invention provides a large-scale computing power cluster-oriented resource collaboration and time synchronization method and system, and relates to the technical field of computing power network architecture. Firstly, resource registration and state maintenance are carried out on a computing power node through an authoritative DNS; after a task is received, the system intelligently selects an optimal target computing power node and plans a data transmission path; in order to realize accurate collaboration, the system dynamically creates a clock synchronization domain according to a task, elects a master clock and plans an optimal clock synchronization path; and finally, the system encapsulates and packs the optimal task data transmission path, the main clock timestamp and the optimal clock synchronization path identifier, and distributes the data to related nodes, so that efficient coordination and high-precision time synchronization of resources are realized. According to the method, optimal matching of tasks and resources is achieved, the high efficiency of data transmission is guaranteed, the precision and reliability of time synchronization are guaranteed from a physical link, and finally efficient coordination and high-precision time synchronization of the resources in the computing power cluster are achieved.

The invention relates to the technical field of vehicle-mounted integrated navigation, in particular to a double-clock synchronization IMU error correction method and system fused with 5G communication. The method comprises the following steps: acquiring a GNSS main clock signal, an auxiliary clock signal and a 5G communication clock signal, and establishing a unified time reference system; constructing a transverse speed prediction model to predict a transverse movement track in the high-speed lane changing process of the vehicle, and combining the transverse movement track with IMU inertial measurement data to calculate a transverse offset residual error of the vehicle; inputting the lateral offset residual error, the lane center line offset, the steering wheel angle data and the yaw velocity data of the vehicle into the improved error risk prediction neural network model for joint processing; and correcting the vehicle navigation state data in real time by using an extended Kalman filter. According to the invention, the 5G communication and GNSS double clock sources are fused in the vehicle high-speed lane changing scene, and high-precision IMU error correction of vehicle lane changing navigation state correction is carried out.

Disclosed are a system on chip, method and device supporting time synchronization, and a storage medium, which relate to the technical field of time synchronization, the system on chip synchronizes the time of an STBM in the system on chip with the time of an off-chip master clock through a first processor core according to a first preset period; based on the first time of the STBM after time synchronization, calibrating a hardware clock of the first network card to obtain a first time reference; calibrating the time of the STBM based on the first time to obtain a second time reference; synchronizing, by the second processor core, the time of the second network card with the time of the first time reference based on a first time difference between the first network card and the second network card; and synchronizing the system time with the time of the second time reference based on a second time difference between the second time reference and the system time of the operating system. According to the system, double time references can be obtained, sub-microsecond-level synchronization precision is realized, and the strict requirement of a high-precision time synchronization scene on time synchronization precision is met.

A method for synchronizing an analog-to-digital converter, ADC, the method comprising: stopping, by a processor, a master clock signal to the ADC to pause sampling of the ADC, the master clock signal being supplied by an external master clock to the ADC; detecting, by the ADC, that a synchronization event has occurred whilst the master clock is stopped; restarting, by the processor, the master clock signal to the ADC; resetting, by the ADC, an internal filter at a time that is synchronous with the master clock; and resuming, by the ADC, sampling in response to resetting the internal filter of the ADC.

The invention provides a vehicle-mounted time synchronization method and device, and the method is applied to a vehicle-mounted network, and comprises the steps: obtaining the topology of the vehicle-mounted network, and determining a master clock and slave equipment according to the topology of the vehicle-mounted network; wherein the master clock and the slave device are connected through a network interface supporting a precise time protocol; broadcasting a synchronization message to the slave device through a preset frequency by using the master clock, wherein the synchronization message at least comprises a first timestamp of a moment when the synchronization message leaves the master clock through the network interface; receiving the synchronization message by using the slave device, and determining a second timestamp of the moment when the synchronization message reaches the slave device through the network interface; and pre-determining propagation delay, determining clock skew of the slave device according to the first timestamp, the second timestamp and the propagation delay, and synchronizing a local clock of the slave device according to the clock skew. The synchronization delay is avoided, and the time synchronization efficiency is improved.

Described is a method of synchronizing a TSN NW-TT module inside a UPF with a Grandmaster (GM) in a Time Domain of the communication network. The method comprises receiving one or more PTP or gPTP messages on an N3 interface of the UPF. The method includes determining a first time offset value between the GM and the UPF N3 interface based on information received in the PTP or gPTP messages. A timing of the UPF N3 interface is adjusted using the determined first time offset value to synchronize the time between the UPF N3 interface and the GM. The method includes determining a second time offset value between the UPF N3 interface and the NW-TT module. A timing of the NW-TT module is adjusted using the determined second time offset value to synchronize the time between the NW-TT module and the GM.

The invention discloses a Beidou PTP master clock device based on chip atomic clock timekeeping, which integrates a chip atomic clock and a Beidou satellite time service signal, and comprises the following steps: firstly, receiving a Beidou satellite signal through a satellite receiving module, and generating an accurate 1PPS signal, a TOD signal and a 10MHz frequency signal based on the satellite signal; high-precision time-frequency reference is provided for equipment, and the problem that clock precision is insufficient in a traditional clock synchronization system is solved through the design. Secondly, the first clock board and the second clock board carry chip atomic clocks, and the high stability and low power consumption characteristics of the chip atomic clocks enable the equipment to maintain high precision of clock signals during long-time operation, so that clock errors caused by crystal oscillator frequency drift and aging in a traditional system are avoided. Moreover, the communication core board is connected with the upper computer, so that instructions can be received in real time, and the clock board and the logic control board can be controlled to work, and therefore, the system can quickly respond to the instructions of the upper computer, and accurate time control can be realized.

A method of synchronizing a network side time sensitive network (TSN) converter (NW-TT) module within a user plane function (UPF) in a communication network with a master clock (GM) in the 5G time domain of the communication network is described. The method comprises the step of adjusting the clock frequency of an N3 interface to enable the N3 interface to be synchronized with the clock of a GM. The method includes generating one or more pulses on a pin of the N3 interface. The method includes detecting the one or more pulses on a pin of the NW-TT module. The method includes determining a time offset value (Offset NW-TT) between the N3 interface and the NW-TT module. The method includes adjusting a time or clock frequency of the NW-TT module using a determined time offset value (Offset NW-TT), thereby enabling time synchronization of the NW-TT module and the GM.

In one embodiment, a system includes a peripheral device, which includes an interface to receive from a virtual machine (VM) running on a host device, over a communication data bus, a request for timing data derived from a time measurement dialogue, the host device maintaining a master clock time, a hardware clock to maintain a peripheral device clock time, and processing circuitry to transform the master clock time to a frame of reference of the VM, and provide to the VM, over the communication data bus, the timing data based on the peripheral device clock time, and the master clock time transformed to the frame of reference of the VM.

The invention discloses a sensor network time synchronization method, which comprises the following steps: firstly, clustering and networking sensor nodes according to equipment to which the sensor nodes belong, and for clusters, fusing clock frequency offset between a quantized master control clock signal and a cluster head node into an improved TPSN protocol to dynamically calibrate a logic clock of the cluster head node; and for the interior of the cluster, calibrating the logic clock of the child node in the cluster based on the clock drift amount and the clock offset amount of the cluster head node and the child node in the cluster. According to the method, the characteristics of a power equipment monitoring scene are combined, and a dynamic hierarchical adjustment mechanism and a bidirectional calibration strategy are introduced, so that the time-varying influence of frequency deviation on the synchronization error can be remarkably suppressed, and the adaptability to network topology change is improved.

Communication systems and methods are disclosed herein. In an embodiment, a communication system includes a grandmaster clock and a modem unit. The grandmaster clock is configured to output a primary clock reference based on a received signal. The modem unit is configured for communication with a remote terminal. The modem unit includes a network clock configured to be tuned based on the primary clock reference. The network clock is further configured to output a first signal to be used for a time reference for communications with the remote terminal. The modern unit also includes a master clock configured to be tuned based on the primary clock reference. The master clock is further configured to output a second signal to be used for a frequency reference for communications with the remote terminal.

A method for synchronizing an analog-to-digital converter, ADC, the method comprising: stopping, by a processor, a master clock signal to the ADC to pause sampling of the ADC, the master clock signal being supplied by an external master clock to the ADC; detecting, by the ADC, that a synchronization event has occurred whilst the master clock is stopped; restarting, by the processor, the master clock signal to the ADC; resetting, by the ADC, an internal filter at a time that is synchronous with the master clock; and resuming, by the ADC, sampling in response to resetting the internal filter of the ADC.

The invention discloses a multi-sensor monitoring system and method based on time alignment, and belongs to the technical field of multi-sensor monitoring, and the system comprises a sensor collection module which is used for obtaining an electrocardiosignal, a photoelectric volume pulse wave signal, a heart sound signal and a respiratory impedance signal containing a main clock receiving timestamp; the time alignment module is used for performing acquisition time alignment on the electrocardiosignal, the pulse oximeter signal, the heart sound signal and the respiratory impedance signal containing the main clock receiving timestamp to form the electrocardiosignal, the pulse oximeter signal, the heart sound signal and the respiratory impedance signal which are in time alignment; the multi-modal fusion analysis module is used for extracting local morphological features in the electrocardiosignal, the pulse oximeter signal, the heart sound signal and the respiratory impedance signal after time alignment to form a feature map, and extracting dynamic weights between different signals and between different time points / features in the same signal; according to the invention, the interpretability and accuracy of judgment are improved.

The present application relates to wafer transfer equipment technical field, in order to solve how to realize the reasonable collaborative control of RGV and box opening mechanism technical problem, provide a kind of system and method for controlling RGV and box opening mechanism collaborative operation, the system includes RGV, box opening mechanism and control center, control center receives the sensor data of RGV by first communication link, and receives the sensor data of box opening mechanism by second communication link, and sends control instruction to RGV by first communication link, and sends control instruction to box opening mechanism by second communication link, to realize the collaborative control of RGV and box opening mechanism, wherein, control center continuously obtains the first clock signal of itself, and continuously obtains the second clock signal of RGV and the third clock signal of box opening mechanism, control center selects one from first, second and third clock signals as the master clock signal of system in each control period and carries out time alignment.

The application discloses a star flash wireless audio transmission system and a networking control method thereof, and belongs to the technical field of audio transmission, and comprises a double-clock source integrated module, a random check module between devices, a clock compensation module and a synchronization state monitoring module.The double-clock source integrated module is used for generating a synchronization master clock and an auxiliary clock and integrating a bidirectional synchronization protocol, the bidirectional clock protocol adopts a bidirectional timestamp chain technology.The random check module between devices is used for performing random check between different slave devices based on a lightweight check protocol and generating a check result.The clock compensation module is used for compensating synchronization failure caused by long-term error and short-term error of a local device in a star flash wireless audio transmission process.The synchronization state monitoring module is used for monitoring the compensation process and a clock signal after compensation is completed.In the technical scheme implementation process of the application, through effective cooperation of a dynamic check and compensation mechanism, accurate synchronization of clocks of various devices is ensured, so that audio transmission quality is significantly improved, and the demand for sound field consistency in a long-time and multi-device scene is met.

The application provides a substation-oriented anchor point timestamp calibration method and related device, which is applied to a collection terminal in a substation monitoring system, the substation monitoring system further comprises a master clock and a sensor in communication connection with the collection terminal, and the method comprises the following steps: determining a drift parameter of a local crystal oscillator of the collection terminal according to a clock offset sequence between the collection terminal and the master clock in a plurality of continuous synchronization periods; correcting a sampling counter in the collection terminal by using the drift parameter; if a transient partial discharge signal is detected according to a data frame sequence collected by the sensor on a target metal pipeline in the substation, a dynamic anchor point is established at a triggering moment of the transient partial discharge signal; and based on the dynamic anchor point, the generated sampling count sequence after correction and a time reference of the collection terminal, a data frame related to the transient partial discharge signal in the data frame sequence is timestamped. The accuracy of timestamping is improved.

The invention provides a time synchronization method and equipment for a hybrid PTP protocol network. The method comprises the following steps: setting a first PTP port to be a full-path time transmission PTP protocol and belong to a first PTP domain; the second PTP port is set to be a partial path time transmission PTP protocol and belongs to a second PTP domain; a first PTP notification message is received through the first PTP port; a second PTP notification message is received through a second PTP port; based on an optimal master clock algorithm, comparing the priorities of the first PTP notification message and the second PTP notification message, and electing a master port and a slave port from the first PTP port and the second PTP port; and packaging and sending the optimal clock information of the PTP notification message received by the master port and the PTP domain to which the PTP notification message belongs according to the PTP protocol standard of the slave port.

The application discloses a kind of high-precision Beidou time service master clock devices based on double-chip atomic clock fusion, it relates to timing synchronization technical field, the device includes satellite receiving module, master control processing module, double-chip atomic clock module, clock taming module, time-frequency output module, display control module and power module;Each module is cooperated by work mode automatic switching mechanism Work;Double-chip atomic clock module adopts two pieces chip level atomic clock and constitutes master-slave redundant architecture, and the phase and frequency deviation information of main atomic clock and slave atomic clock are fused and mutually checked by extended Kalman filtering;The taming algorithm in clock taming module is formed by extended Kalman filtering link, PID controller link, digital phase-locked loop link cascade;Work mode automatic switching mechanism is according to the automatic switching of work mode according to the operating state of the device;Overcome the insufficient of time service precision, low reliability, taming algorithm performance is limited and so on in prior art.

The invention relates to a method for synchronizing a clock signal (CLK) with a reference clock (RCLK), wherein the clock signal is obtained on the basis of a local master clock and an adjustable frequency multiplication factor. The method utilizes a master clock signal to synchronize a frequency multiplication factor to compensate for frequency deviation. In a data packet gap of communication standards such as Bluetooth, corresponding signals are transmitted and received.

Ultra-Wideband (UWB) wireless technology transmits digital data as modulated coded impulses over a very wide frequency spectrum with very low power over a short distance. Accordingly, the inventors have established UWB devices which accommodate and adapt to inaccuracies, errors, or issues within the implemented electronics, hardware, firmware, and software. Beneficially, UWB receivers may accommodate offsets in absolute frequency between their frequency source and the transmitter, accommodate drift arising from phase locked loop and / or from relative clock frequency offsets of the remote transmitter and local receiver. UWB devices may also employ modulation coding schemes offering increased efficiency with respect to power, data bits per pulse transmitted, and enabled operation at higher output power whilst complying with regulatory emission requirements. Further, UWB devices may support a ranging function with range / accuracy not limited to the low frequency master clock employed within these devices enabling operation with ultra-low power consumption.

The application relates to the technical field of surveying and mapping geographic information, and discloses a surveying and mapping intelligent analysis system based on multi-source data fusion, which comprises a multi-source acquisition and space-time reference alignment module, a factor graph consistency fusion and gate module and the like. The multi-source acquisition and space-time reference alignment module is configured to lock a main clock source through a hardware timing protocol, set a hard time alignment threshold, receive multi-source sensor data, judge a time synchronization deviation fed back by the sensor, and output original observation data flow when the time synchronization deviation is lower than the hard time alignment threshold. The factor graph consistency fusion and gate module is configured to receive the original observation data flow and build a global factor graph containing a full-source data constraint chain. The hardware timing protocol locking and hard time alignment threshold mechanism are adopted to establish a unified space-time reference at a physical level from the source, eliminate spatial misplacement caused by sensor sampling differences, realize high-precision consistency fusion of multi-source data, and solve the problems of difficulty in determining deviation sources and low fusion efficiency in traditional technologies.

The present invention belongs to the field of communication technology and discloses a high-precision master-slave time synchronization method suitable for a time synchronization network. The method includes: in a network topology with a master node as the root node, a slave node and / or a backup master node sends a synchronization frame to the master node; the master node solidifies the received synchronization frame, calculates a solidified time point, encapsulates the solidified time point in a new synchronization frame, and sends the new synchronization frame to the slave node and / or the backup master node. After the synchronization establishment phase is completed, the master node uses the solidified time point of the first synchronization frame sent back to the slave node and / or the backup master node as the start time, and periodically sends synchronization frames to the slave node and / or the backup master node. The method can provide a high-precision time synchronization service and a fault-tolerant time synchronization service based on a backup master clock for the time synchronization network.

Methods, systems, and devices for asynchronous multi-level signal sampling are described. A system may generate a first clock signal by delaying the master clock signal by a first duration that is based on a first propagation delay associated with a first amplifier for a data signal. The system may generate a second clock signal by delaying the master clock signal by a second duration that is based on a second propagation delay associated with a second amplifier for the data signal. The system may sample, by a first sampling circuit based on the first clock signal, a first amplified data signal outputted by the first amplifier. And the system may sample, by a second sampling circuit based on the second clock signal, a second amplified data signal outputted by the second amplifier.

The invention relates to a time synchronization system and method of a TSN train communication network. The system comprises a backbone network clock domain, a marshalling network clock domain and an intermediate clock domain formed by connecting backbone network nodes and marshalling network nodes, the two backbone network clock domains receive the same external clock source through each autonomous clock node to realize time synchronization, and provide a unified time reference for each marshalling network clock domain; under the condition that the time synchronization of the clock domain of the backbone network is abnormal or invalid, the backbone network node sends a synchronization abnormal signal to the marshalling network node of the intermediate clock domain where the backbone network node is located; the marshalling network clock domain is used for realizing time synchronization of equipment supporting the TSN in the marshalling network; under the condition that the synchronization abnormal signal is received, the marshalling network node of the middle clock domain does not enable the time synchronization function, so that the backbone network clock domain is isolated from the marshalling network clock domain where the marshalling network node is located. The problem that large-area synchronization abnormity of the whole vehicle may be caused once the time synchronization of the backbone network fails is solved.

The present invention belongs to the field of time synchronization technology and discloses a dual-machine redundant time synchronization system and method. The dual-machine redundant time synchronization system includes: a first master clock, a second master clock, an extended clock, and a time-served device. The first master clock and the second master clock are both equipped with a Beidou timing unit and a positioning timing unit. Time synchronization is performed using dual clocks equipped with both Beidou timing units and positioning timing units. When an abnormality occurs in the operating state of the first master clock, a first target timing signal is generated based on the second master clock. Through Beidou timing, positioning timing, and dual-machine redundant configuration, the accuracy of the timing source is guaranteed, while the construction cost of the clock system is reduced.

A motion capture system comprising: a master clock configured to repeatedly generate and output, at a frame rate, a primary clock signal that conveys when a video frame starts; a first camera configured to capture light within a first set of wavelengths and operably coupled to receive the master clock signal and initiate an image capture sequence on a frame-by-frame basis in fixed phase relationship with the primary clock signal to generate a first set of images at the frame rate from light captured within the first set of wavelengths; a synchronization module operably coupled to receive the master clock signal from the master clock and configured to generate a synchronization signal offset in time from and in a fixed relationship with the primary clock signal; and a second camera configured to capture light within a second set of wavelengths, different than the first set of wavelengths, and operably coupled to receive the synchronization signal and initiate an image capture sequence on the frame-by-frame basis in a fixed phase relationship with the synchronization signal to generate a second set of images at the frame rate from light captured within the second set of wavelengths; wherein the amount of time the synchronization signal is offset from the master clock signal aligns, within each frame, the image capture sequence of the second camera with the image capture sequence of the first camera.