CN102611737B - Real-time synchronization method for detection data of multi-sensor networks - Google Patents

Abstract

The invention is a method for real-time synchronization of data when a multi-sensor network detects multiple moving targets to realize positioning and tracking. The algorithm proposed by the invention can quickly determine the detection data of each sensor on the same target at the same time when a multi-sensor network detects multiple moving targets, and provides sufficient conditions for further realizing positioning and tracking. Main technical points of the present invention: (1) Design a basic module—a concentrator, which can be placed separately or integrated into a certain sensor, and a two-dimensional circular buffer array is built in the concentrator, and realized on this basis Data synchronization algorithm; (2) Design four real-time synchronization algorithm processes of multi-sensor network detection data for two or three sensor networks and whether the sampling period is the same. The method proposed by the invention is suitable for quickly and accurately locating and tracking multi-moving targets, and has important application value in both military and civilian applications.

Description

Real-time synchronization method of detection data in multi-sensor network

technical field

The invention is a method for real-time synchronization of data when a multi-sensor network detects multiple moving targets to realize positioning and tracking.

Background technique

The wide application of various electronic jamming measures in modern air defense countermeasures has made the electronic environment faced by air defense weapon systems increasingly complex. For active noise jamming targets, general fine tracking radars have the ability to accurately measure angles, but cannot achieve ranging. The cross positioning mode of the radar network can solve this problem. In the calculation process, all the sensors (guidance radar) participating in the cross positioning send target angle parameters with time stamps, but the time between the sensors is not synchronized, or the data of the sensors participating in the cross positioning are not from the same time. , it will cause too much error in the positioning of the moving target, and even cause the tracking to fail. The current networked radar cross-location mode uses the target's transient angle to calculate the target's transient range, and then determines the target's current range by extrapolation, which brings large errors to the target's distance calculation. Some of the current research mainly focuses on the analysis of target positioning accuracy for factors such as orientation error, angle measurement, and baseline error without considering the time synchronization error or when the error is constant, which cannot be used in the actual environment. Moreover, the current data synchronization research on multi-sensor network detection has not yet broken through the time synchronization stage, and how to quickly determine the data of the same target among multiple targets obtained by each sensor at the same time after time synchronization There is no relevant research report in the published literature both at home and abroad.

Contents of the invention

The algorithm proposed by the invention can quickly determine the detection data of each sensor on the same target at the same time when a multi-sensor network detects multiple moving targets, and provides sufficient conditions for further realizing positioning and tracking. The present invention also designs different calculation processes for whether each sensor can be time-synchronized, and can be compatible with time-synchronized or non-synchronized situations.

(1) The present invention designs a real-time synchronization method for detection data of a multi-sensor network, including a real-time synchronization method for obtaining detection data with the same sampling period in two sensor networks, and a real-time synchronization method for obtaining detection data in a three-sensor network with the same sampling period Methods, two-sensor network using different sampling periods to obtain detection data real-time synchronization method and three-sensor network using different sampling periods to obtain detection data real-time synchronization method.

(2) The design of the concentrator module in the real-time synchronization algorithm model of multi-sensor network detection data.

(3) Two sensor networks use the same sampling period to obtain detection data real-time synchronization method flow design.

(4) The three-sensor network adopts the same sampling period to obtain the real-time synchronization method flow design of the detection data.

(5) The process design of the real-time synchronization method for obtaining detection data with different sampling periods in the network of two sensors.

(6) The three-sensor network uses different sampling periods to obtain real-time synchronization method flow design of detection data.

Description of drawings

Fig. 1 is a flowchart of a method for obtaining real-time synchronization of detection data by using the same sampling period in two sensor networks according to an embodiment of the present invention;

Fig. 2 is a flow chart of a method for obtaining real-time synchronization of detection data by using the same sampling period in a three-sensor network;

3 is a flowchart of a real-time synchronization method for obtaining detection data by using different sampling periods in two sensor networks according to an embodiment of the present invention;

FIG. 4 is a flowchart of a real-time synchronization method for acquiring detection data using different sampling periods in sensor networking according to Embodiment 3 of the present invention.

detailed description

Fig. 1 is a flow chart of the method for obtaining real-time synchronization of detection data by using the same sampling period in the network of two sensors in the embodiment of the present invention, as shown in Fig. 1 ,

(1) English letters and serial numbers in the figure

a. The data time pointed by the old pointer of the slave sensor is earlier than that pointed by the old pointer of the reference sensor;

b. The data time pointed by the old pointer of the slave sensor is later than that pointed by the old pointer of the reference sensor;

c. The data time pointed by the old pointer of the slave sensor is the same as the data time pointed by the old pointer of the reference sensor;

d. The position pointed by the old pointer of any sensor exceeds the new address.

(2) Process description

①Assume that the two sensors are A and B respectively, and m and n targets are detected respectively, then m+n ring buffers and 2(m+n) new and old pointers and buffers need to be allocated in the concentrator It may be expressed as {O _A1 , O _A2 , ..., O _Am , O _B1 , O _B2 , ..., O _Bn }, and the new and old pointers may be expressed as {P _A1-N , P _A1-O , P _A2-N , P _A2-O , ..., P _Am-N , P _Am-O , P _B1-N , P _B1-O , P _B2-N , P _B2-O , ..., P _{Bn- N} , P _Bn-O };

②In the same sampling cycle time sequence, the two sensor networks transmit the detection data and the time of the data to the centralized processor in real time and store them in the ring buffer determined by the sensor and the detected target. The new pointer points to the current data of the ring buffer The last address after storage, the old pointers initially point to their respective first addresses;

③ For the detection target after association, select a certain sensor as the reference sensor, and the other as the slave sensor, starting with the data and time pointed to by the reference sensor corresponding to the cached old pointer;

④ If the data time indicated by the old pointer of the slave sensor is earlier than that of the old pointer of the reference sensor, go to ⑤; if the data time pointed by the old pointer of the slave sensor is later than that of the old pointer of the benchmark sensor, go to ⑥; The data time pointed by the old pointer of the sensor is the same as the data time pointed by the old pointer of the reference sensor, and transfer to ⑦; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑤From the old pointer of the sensor to the next data, transfer to ④;

⑥ The old pointer of the reference sensor points to the next data, and then transfers to ④;

⑦ Once data synchronization has been realized, the old pointers of the reference sensor and the slave sensor point to their respective next positions, and turn to ④.

Figure 2 is a flow chart of the real-time synchronization method for obtaining detection data in a three-sensor network using the same sampling period, as shown in Figure 2,

(1) English letters and serial numbers in the figure

a. The data time pointed by the old pointer of sensor B is earlier than that pointed by the old pointer of sensor A;

b. The data time pointed by the old pointer of sensor B is later than that pointed by the old pointer of sensor A;

c. The data time indicated by the old pointers of sensors A and B are the same;

d. The position pointed by any of the old pointers in A and B sensors exceeds the new address;

e. The data time indicated by the old pointer of sensor C is earlier than that pointed by the old pointer of sensor A;

f. The data time indicated by the old pointer of sensor C is later than that pointed by the old pointer of sensor A;

g. The data time indicated by the old pointers of sensors A and C are the same;

h. The location pointed by any old pointer in sensors A and C exceeds the new address.

(2) Process description

①Maybe assuming that the three sensors are A, B, and C respectively, and m, n, and k targets are detected respectively, then m+n+k ring buffers and 2(m+n+k) need to be allocated in the concentrator New and old pointers, the buffer may be expressed as {O _A1 , O _A2 , ..., O _Am , O _B1 , O _B2 , ..., O _Bn , O _C1 , O _C2 , ..., O _Ck }, the new and old pointers may be expressed as {P _A1-N , P _A1-O , P _A2-N , P _A2-O , ..., P _Am-N , P _Am-O , P _B1-N , P _B1-O , P _B2-N , P _B2-O , ..., P _Bn-N , P _Bn-O , P _C1-N , P _C1-O , P _C2-N , P _C2-O , .. .,P _Ck-N ,P _Ck-O };

②In the same sampling cycle time sequence, the three-sensor network transmits the detection data and the time of the data to the centralized processor in real time and stores them in the ring buffer determined by the sensors and their detected targets. The new pointer points to the current data in the ring buffer The last address after storage, the old pointers initially point to their respective first addresses;

③ For the detection target after association, select a certain sensor as the reference sensor A, and the other two are from sensors B and C, starting with the data and time pointed to by the old pointer corresponding to the cache of sensor A;

④ If the data time indicated by the old pointer of sensor B is earlier than that indicated by the old pointer of sensor A, turn to ⑤; if the data time indicated by the old pointer of sensor B is later than that indicated by the old pointer of sensor A, turn to ⑥; The data time pointed by the old pointer of B is the same as that of the data time pointed by the old pointer of sensor A, and transfer to ⑦; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑤ The old pointer of sensor B points to the next data, and transfers to ④;

⑥ The old pointer of sensor A points to the next data, and transfers to ④;

⑦ If the data time indicated by the old pointer of sensor C is earlier than that indicated by the old pointer of sensor A, turn to ⑧; if the data time indicated by the old pointer of sensor C is later than that indicated by the old pointer of sensor A, turn to ⑥; The data time pointed by the old pointer of C is the same as the data time pointed by the old pointer of sensor A, and transfer to ⑨; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑧The old pointer of sensor C points to the next data, and transfers to ⑦;

⑨ Realized data synchronization once, the old pointers of sensors A, B and C all point to their respective next positions, and turn to ④.

Fig. 3 is a flowchart of a method for obtaining real-time synchronization of detection data using different sampling periods in two sensor networks according to an embodiment of the present invention, as shown in Fig. 3 ,

(1) English letters and serial numbers in the figure

a. The data time pointed by the old pointer of the slave sensor is earlier than that pointed by the old pointer of the reference sensor;

b. The data time pointed by the old pointer of the slave sensor is later than that pointed by the old pointer of the reference sensor;

c. The data time pointed by the old pointer of the slave sensor is the same as the data time pointed by the old pointer of the reference sensor;

d. The position pointed by the old pointer of any sensor exceeds the new address.

(2) Process description

①Assume that the two sensors are A and B respectively, and m and n targets are detected respectively, then m+n ring buffers and 2(m+n) new and old pointers and buffers need to be allocated in the concentrator It may be expressed as {O _A1 , O _A2 , ..., O _Am , O _B1 , O _B2 , ..., O _Bn }, and the new and old pointers may be expressed as {P _A1-N , P _A1-O , P _A2-N , P _A2-O , ..., P _Am-N , P _Am-O , P _B1-N , P _B1-O , P _B2-N , P _B2-O , ..., P _{Bn- N} , P _Bn-O };

②Two-sensor network transforms the detection data and the time of the data into the same cycle time data sequence through interpolation and extrapolation, and stores them in the buffer area determined by the sensors and their detection targets, and the new pointers point to their respective current end addresses , the old pointers initially point to their respective first addresses;

③ For the detection target after association, select a certain sensor as the reference sensor, and the other as the slave sensor, starting with the data and time pointed to by the reference sensor corresponding to the cached old pointer;

④ If the data time indicated by the old pointer of the slave sensor is earlier than that of the old pointer of the reference sensor, go to ⑤; if the data time pointed by the old pointer of the slave sensor is later than that of the old pointer of the benchmark sensor, go to ⑥; The data time pointed by the old pointer is the same as the data time pointed by the old pointer of the reference sensor, and then transfer to ⑦; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑤From the old pointer of the sensor to the next data, transfer to ④;

⑥ The old pointer of the reference sensor points to the next data, and then transfers to ④;

⑦ Once data synchronization has been realized, the old pointers of the reference sensor and the slave sensor point to their respective next positions, and turn to ④.

Fig. 4 is a flow chart of a method for obtaining real-time synchronization of detection data using different sampling periods in sensor networking according to Embodiment 3 of the present invention, as shown in Fig. 4 ,

(1) English letters and serial numbers in the figure

a. The data time pointed by the old pointer of sensor B is earlier than that pointed by the old pointer of sensor A;

b. The data time pointed by the old pointer of sensor B is later than that pointed by the old pointer of sensor A;

c. The data time indicated by the old pointers of sensors A and B are the same;

d. The position pointed by any of the old pointers in A and B sensors exceeds the new address;

e. The data time indicated by the old pointer of sensor C is earlier than that pointed by the old pointer of sensor A;

f. The data time indicated by the old pointer of sensor C is later than that pointed by the old pointer of sensor A;

g. The data time indicated by the old pointers of sensors A and C are the same;

h. The location pointed by any old pointer in sensors A and C exceeds the new address.

(2) Process description

①Maybe assuming that the three sensors are A, B, and C respectively, and m, n, and k targets are detected respectively, then m+n+k ring buffers and 2(m+n+k) need to be allocated in the concentrator New and old pointers, the buffer may be expressed as {O _A1 , O _A2 , ..., O _Am , O _B1 , O _B2 , ..., O _Bn , O _C1 , O _C2 , ..., O _Ck }, the new and old pointers may be expressed as {P _A1-N , P _A1-O , P _A2-N , P _A2-O , ..., P _Am-N , P _Am-O , P _B1-N , P _B1-O , P _B2-N , P _B2-O , ..., P _Bn-N , P _Bn-O , P _C1-N , P _C1-O , P _C2-N , P _C2-O , .. .,P _Ck-N ,P _Ck-O };

②The three-sensor network transforms the detection data and the time of the data into the same cycle time data sequence through interpolation and extrapolation, and stores them in the buffer zone determined by the sensors and their detection targets, and the new pointers point to their respective current end addresses , the old pointers initially point to their respective first addresses;

③ For the detection target after association, select a certain sensor as the reference sensor A, and the other two are from sensors B and C, starting with the data and time pointed to by the old pointer corresponding to the cache of sensor A;

④ If the data time indicated by the old pointer of sensor B is earlier than that indicated by the old pointer of sensor A, turn to ⑤; if the data time indicated by the old pointer of sensor B is later than that indicated by the old pointer of sensor A, turn to ⑥; if sensor B The data time pointed by the old pointer is the same as the data time pointed by the old pointer of sensor A, and transfer to ⑦; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑤ The old pointer of sensor B points to the next data, and transfers to ④;

⑥ The old pointer of sensor A points to the next data, and transfers to ④;

⑦If the data time indicated by the old pointer of sensor C is earlier than that indicated by the old pointer of sensor A, turn to ⑧; if the data time indicated by the old pointer of sensor C is later than that indicated by the old pointer of sensor A, turn to ⑥; if sensor C The data time pointed to by the old pointer is the same as the data time pointed to by the old pointer of sensor A, turn to ⑨; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

③The old pointer of sensor C points to the next data, and transfers to ⑦;

⑨ Realized data synchronization once, the old pointers of sensors A, B and C all point to their respective next positions, and turn to ④.

(1) The specific implementation of the present invention needs to adopt different algorithm processes for four kinds of multi-sensor networking detection methods, and these four methods are respectively: two sensor networking adopts the same sampling period to obtain detection data real-time synchronization method flow, three sensors The process flow of the real-time synchronization method for obtaining detection data by using the same sampling period in networking, the real-time synchronization method process of detection data obtained by two sensors using different sampling periods in networking, and the real-time synchronization method flow of detection data obtained by three-sensor networking using different sampling periods.

(2) The data real-time synchronization algorithms of these four multi-sensor network detection methods all require a basic module—a concentrator, which is used to store and calculate the detection data of each sensor for each target. The concentrator can be placed separately or integrated into the In a certain sensor, the data of each sensor is collected to the concentrator, and the concentrator allocates a ring buffer according to the number of sensors and the number of targets detected by the sensor. Each buffer is configured with two pointers. These two pointers may be called new and old. pointer.

(3) Two sensor networks use the same sampling period to obtain the real-time synchronization method of detection data, as shown in Figure 1:

①Assume that the two sensors are A and B respectively, and m and n targets are detected respectively, then m+n ring buffers and 2(m+n) new and old pointers and buffers need to be allocated in the concentrator It may be expressed as {O _A1 , O _A2 , ..., O _Am , O _B1 , O _B2 , ..., O _Bn }, and the new and old pointers may be expressed as {P _A1-N , P _A1-O , P _A2-N , P _A2-O , ..., P _Am-N , P _Am-O , P _B1-N , P _B1-O , P _B2-N , P _B2-O , ..., P _{Bn- N} , P _Bn-O };

②In the same sampling cycle time sequence, the two sensor networks transmit the detection data and the time of the data to the centralized processor in real time and store them in the ring buffer determined by the sensor and the detected target. The new pointer points to the current data of the ring buffer The last address after storage, the old pointers initially point to their respective first addresses;

③ For the detection target after association, select a certain sensor as the reference sensor, and the other as the slave sensor, starting with the data and time pointed to by the reference sensor corresponding to the cached old pointer;

④ If the data time indicated by the old pointer of the slave sensor is earlier than that of the old pointer of the reference sensor, go to ⑤; if the data time pointed by the old pointer of the slave sensor is later than that of the old pointer of the benchmark sensor, go to ⑥; The data time pointed by the old pointer of the sensor is the same as the data time pointed by the old pointer of the reference sensor, and transfer to ⑦; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑤From the old pointer of the sensor to the next data, transfer to ④;

⑥ The old pointer of the reference sensor points to the next data, and then transfers to ④;

⑦ Once data synchronization has been realized, the old pointers of the reference sensor and the slave sensor point to their respective next positions, and turn to ④.

(4) The three-sensor network adopts the same sampling period to obtain the real-time synchronization method of detection data. The implementation process is shown in Figure 2:

①Maybe assuming that the three sensors are A, B, and C respectively, and m, n, and k targets are detected respectively, then m+n+k ring buffers and 2(m+n+k) need to be allocated in the concentrator New and old pointers, the buffer may be expressed as {O _A1 , O _A2 , ..., O _Am , O _B1 , O _B2 , ..., O _Bn , O _C1 , O _C2 , ..., O _Ck }, the new and old pointers may be expressed as {P _A1-N , P _A1-O , P _A2-N , P _A2-O , ..., P _Am-N , P _Am-O , P _B1-N , P _B1-O , P _B2-N , P _B2-O , ..., P _Bn-N , P _Bn-O , P _C1-N , P _C1-O , P _C2-N , P _C2-O , .. .,P _Ck-N ,P _Ck-O };

②In the same sampling cycle time sequence, the three-sensor network transmits the detection data and the time of the data to the centralized processor in real time and stores them in the ring buffer determined by the sensors and their detected targets. The new pointer points to the current data in the ring buffer The last address after storage, the old pointers initially point to their respective first addresses;

③ For the detection target after association, select a certain sensor as the reference sensor A, and the other two are from sensors B and C, starting with the data and time pointed to by the old pointer corresponding to the cache of sensor A;

④ If the data time indicated by the old pointer of sensor B is earlier than that indicated by the old pointer of sensor A, turn to ⑤; if the data time indicated by the old pointer of sensor B is later than that indicated by the old pointer of sensor A, turn to ⑥; The data time pointed by the old pointer of B is the same as that of the data time pointed by the old pointer of sensor A, and transfer to ⑦; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑤ The old pointer of sensor B points to the next data, and transfers to ④;

⑥ The old pointer of sensor A points to the next data, and transfers to ④;

⑦ If the data time indicated by the old pointer of sensor C is earlier than that indicated by the old pointer of sensor A, turn to ⑧; if the data time indicated by the old pointer of sensor C is later than that indicated by the old pointer of sensor A, turn to ⑥; The data time pointed by the old pointer of C is the same as the data time pointed by the old pointer of sensor A, and transfer to ⑨; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑧The old pointer of sensor C points to the next data, and transfers to ⑦;

⑨ Realized data synchronization once, the old pointers of sensors A, B and C all point to their respective next positions, and turn to ④.

(5) The implementation process of the real-time synchronization method of the detection data obtained by two sensor networks using different sampling periods is shown in Figure 3:

①Assume that the two sensors are A and B respectively, and m and n targets are detected respectively, then m+n ring buffers and 2(m+n) new and old pointers and buffers need to be allocated in the concentrator It may be expressed as {O _A1 , O _A2 , ..., O _Am , O _B1 , O _B2 , ..., O _Bn }, and the new and old pointers may be expressed as {P _A1-N , P _A1-O , P _A2-N , P _A2-O , ..., P _Am-N , P _Am-O , P _B1-N , P _B1-O , P _B2-N , P _B2-O , ..., P _{Bn- N} , P _Bn-O };

②Two-sensor network transforms the detection data and the time of the data into the same cycle time data sequence through interpolation and extrapolation, and stores them in the buffer area determined by the sensors and their detection targets, and the new pointers point to their respective current end addresses , the old pointers initially point to their respective first addresses;

③ For the detection target after association, select a certain sensor as the reference sensor, and the other as the slave sensor, starting with the data and time pointed to by the reference sensor corresponding to the cached old pointer;

④ If the data time indicated by the old pointer of the slave sensor is earlier than that of the old pointer of the reference sensor, go to ⑤; if the data time pointed by the old pointer of the slave sensor is later than that of the old pointer of the benchmark sensor, go to ⑥; The data time pointed by the old pointer is the same as the data time pointed by the old pointer of the reference sensor, and then transfer to ⑦; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑤From the old pointer of the sensor to the next data, transfer to ④;

⑥ The old pointer of the reference sensor points to the next data, and then transfers to ④;

⑦ Once data synchronization has been realized, the old pointers of the reference sensor and the slave sensor point to their respective next positions, and turn to ④.

(6) The implementation process of the real-time synchronization algorithm for the detection data of the three-sensor network with different sampling periods is shown in Figure 4:

①Maybe assuming that the three sensors are A, B, and C respectively, and m, n, and k targets are detected respectively, then m+n+k ring buffers and 2(m+n+k) need to be allocated in the concentrator New and old pointers, the buffer may be expressed as {O _A1 , O _A2 , ..., O _Am , O _B1 , O _B2 , ..., O _Bn , O _C1 , O _C2 , ..., O _Ck }, the new and old pointers may be expressed as {P _A1-N , P _A1-O , P _A2-N , P _A2-O , ..., P _Am-N , P _Am-O , P _B1-N , P _B1-O , P _B2-N , P _B2-O , ..., P _Bn-N , P _Bn-O , P _C1-N , P _C1-O , P _C2-N , P _C2-O , .. .,P _Ck-N ,P _Ck-O };

②The three-sensor network transforms the detection data and the time of the data into the same cycle time data sequence through interpolation and extrapolation, and stores them in the buffer zone determined by the sensors and their detection targets, and the new pointers point to their respective current end addresses , the old pointers initially point to their respective first addresses;

③ For the detection target after association, select a certain sensor as the reference sensor A, and the other two are from sensors B and C, starting with the data and time pointed to by the old pointer corresponding to the cache of sensor A;

④ If the data time indicated by the old pointer of sensor B is earlier than that indicated by the old pointer of sensor A, turn to ⑤; if the data time indicated by the old pointer of sensor B is later than that indicated by the old pointer of sensor A, turn to ⑥; if sensor B The data time pointed by the old pointer is the same as the data time pointed by the old pointer of sensor A, and transfer to ⑦; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑤ The old pointer of sensor B points to the next data, and transfers to ④;

⑥ The old pointer of sensor A points to the next data, and transfers to ④;

⑦If the data time indicated by the old pointer of sensor C is earlier than that indicated by the old pointer of sensor A, turn to ⑧; if the data time indicated by the old pointer of sensor C is later than that indicated by the old pointer of sensor A, turn to ⑥; if sensor C The data time pointed to by the old pointer is the same as the data time pointed to by the old pointer of sensor A, turn to ⑨; if the position pointed by the old pointer of any sensor exceeds the new address, wait for the arrival of new data;

⑧The old pointer of sensor C points to the next data, and transfers to ⑦;

⑨ Realized data synchronization once, the old pointers of sensors A, B and C all point to their respective next positions, and turn to ④.

Claims (2)

1. a kind of detection data real-time synchronization method of multisensor networking, comprising two sensorses networking the identical sampling period is adopted Obtain the real-time synchronization that the real-time synchronization method of detection data, three sensor networks obtain detection data using the identical sampling period Method, two sensorses networking are adopted using the real-time synchronization method and three sensor networks that Different sampling period obtains detection data The real-time synchronization method of detection data is obtained with Different sampling period；

The two sensorses networking is specially using the real-time synchronization method that the identical sampling period obtains detection data：

(1) it is one buffer circle of each Target Assignment that each sensor is detected, each buffer circle configuration is new, Old two pointers；

(2) in identical sampling period moment sequence, two sensorses are real-time transmitted to the time of detection data and data Focus on device and store the buffer circle determined to sensor and its detected target, new pointer points to buffer circle and works as Last address after front data storage, old pointer is initially pointed to respective first address；

(3) for the detection target after association, select certain sensor as reference sensor, another be from sensor, Started with the data of the old pointer indication of reference sensor correspondence caching and time；

(4) if from the data time of the old pointer indication of sensor earlier than the old pointer indication of reference sensor, proceeded to (5)；If The old pointer indication of reference sensor is later than from the data time of the old pointer indication of sensor, is proceeded to (6)；If from the old finger of sensor The data time of pin indication is identical with the old pointer indication data time of reference sensor, proceeds to (7)；If any one sensor The position of old pointer indication waits new data to arrive beyond new address；

(5) next data are pointed to from the old pointer of sensor, is proceeded to (4)；

(6) the old pointer of reference sensor points to next data, proceeds to (4)；

(7) data syn-chronization is realized once, reference sensor and the old pointer from sensor are directed to respective next position, Proceed to (4)；

Three sensor network is specially using the real-time synchronization method that the identical sampling period obtains detection data：

(1) it is one buffer circle of each Target Assignment that each sensor is detected, each buffer circle configuration is new, Old two pointers；

(2) in identical sampling period moment sequence, three sensors are real-time transmitted to the time of detection data and data Focus on device and store the buffer circle determined to sensor and its detected target, new pointer points to buffer circle and works as Last address after front data storage, old pointer is initially pointed to respective first address；

(3) for the detection target after association, certain sensor is selected as reference sensor A, another two is from sensor B, C, are started with the data of the old pointer indication of sensors A correspondence caching and time；

(4) if the data time of the old pointer indications of sensor B is proceeded to (5) earlier than the old pointer indication of sensors A；If sensing The data time of the old pointer indications of device B is later than the old pointer indication of sensors A, proceeds to (6)；If the old pointer indications of sensor B Data time is identical with the old pointer indication data time of sensors A, proceeds to (7)；If the old pointer indication of any one sensor Position beyond new address, wait new data to arrive；

(5) the old pointers of sensor B point to next data, proceed to (4)；

(6) the old pointer of sensors A points to next data, proceeds to (4)；

(7) if the data time of the old pointer indications of sensor C is proceeded to (8) earlier than the old pointer indication of sensors A；If sensing The data time of the old pointer indications of device C is later than the old pointer indication of sensors A, proceeds to (6)；If the old pointer indications of sensor C Data time is identical with the old pointer indication data time of sensors A, proceeds to (9)；If the old pointer indication of any one sensor Position beyond new address, wait new data to arrive；

(8) the old pointers of sensor C point to next data, proceed to (7)；

(9) data syn-chronization is realized once, the old pointer of sensors A, B and C is directed to respective next position, proceeds to (4)；

The two sensorses networking is specially using the real-time synchronization method that Different sampling period obtains detection data：

(1) it is one buffer circle of each Target Assignment that each sensor is detected, each buffer circle configuration is new, Old two pointers；

(2) time of detection data and data is transformed to the moment in identical cycle by two sensorses through interpolation method and extrapolation In data sequence, and the buffer circle determined to sensor and its detected target is stored, new pointer points to buffer circle Last address after current data storage, old pointer is initially pointed to respective first address；

(3) for the detection target after association, select certain sensor as reference sensor, another be from sensor, Started with the data of the old pointer indication of reference sensor correspondence caching and time；

(4) if from the data time of the old pointer indication of sensor earlier than the old pointer indication of reference sensor, proceeded to (5)；If The old pointer indication of reference sensor is later than from the data time of the old pointer indication of sensor, is proceeded to (6)；If from the old finger of sensor The data time of pin indication is identical with the old pointer indication data time of reference sensor, proceeds to (7)；If any one sensor The position of old pointer indication waits new data to arrive beyond new address；

(5) next data are pointed to from the old pointer of sensor, is proceeded to (4)；

(6) the old pointer of reference sensor points to next data, proceeds to (4)；

(7) data syn-chronization is realized once, reference sensor and the old pointer from sensor are directed to respective next position, Proceed to (4)；

Three sensor network is specially using the real-time synchronization method that Different sampling period obtains detection data：

(1) it is one buffer circle of each Target Assignment that each sensor is detected, each buffer circle configuration is new, Old two pointers；

The time of detection data and data is transformed to the moment in identical cycle by (2) three sensors through interpolation method and extrapolation In data sequence, and the buffer circle determined to sensor and its detected target is stored, new pointer points to buffer circle Last address after current data storage, old pointer is initially pointed to respective first address；

(3) for the detection target after association, certain sensor is selected as reference sensor A, another two is from sensor B, C, are started with the data of the old pointer indication of sensors A correspondence caching and time；

(4) if the data time of the old pointer indications of sensor B is proceeded to (5) earlier than the old pointer indication of sensors A；If sensing The data time of the old pointer indications of device B is later than the old pointer indication of sensors A, proceeds to (6)；If the old pointer indications of sensor B Data time is identical with the old pointer indication data time of sensors A, proceeds to (7)；If the old pointer indication of any one sensor Position beyond new address, wait new data to arrive；

(5) the old pointers of sensor B point to next data, proceed to (4)；

(6) the old pointer of sensors A points to next data, proceeds to (4)；

(7) if the data time of the old pointer indications of sensor C is proceeded to (8) earlier than the old pointer indication of sensors A；If sensing The data time of the old pointer indications of device C is later than the old pointer indication of sensors A, proceeds to (6)；If the old pointer indications of sensor C Data time is identical with the old pointer indication data time of sensors A, proceeds to (9)；If the old pointer indication of any one sensor Position beyond new address, wait new data to arrive；

(8) the old pointers of sensor C point to next data, proceed to (7)；

(9) data syn-chronization is realized once, the old pointer of sensors A, B and C is directed to respective next position, proceeds to (4).

2. the detection data real-time synchronization method of multisensor networking according to claim 1, its technical characteristic is：Concentrate Processor is the equipment with storage and computing function, and focusing on device individually placed can also be integrated in certain sensor, Each sensing data is pooled to and focuses on device.