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CN118574209B - Satellite network leading follow consistency clock synchronization method, device and equipment - Google Patents

Satellite network leading follow consistency clock synchronization method, device and equipment Download PDF

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Publication number
CN118574209B
CN118574209B CN202411007134.6A CN202411007134A CN118574209B CN 118574209 B CN118574209 B CN 118574209B CN 202411007134 A CN202411007134 A CN 202411007134A CN 118574209 B CN118574209 B CN 118574209B
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clock
node
time
model
satellite network
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CN118574209A (en
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瞿智
杨俊�
陈建云
冯旭哲
胡梅
李献斌
周超
马超
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National University of Defense Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/0035—Synchronisation arrangements detecting errors in frequency or phase
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Radio Relay Systems (AREA)
  • Synchronisation In Digital Transmission Systems (AREA)

Abstract

The application relates to a satellite network leader following consistency clock synchronization method, device and equipment. The method comprises the following steps: constructing a satellite network topology model, constructing a satellite network clock model, and acquiring a time-frequency measured value of each node and adjacent nodes thereof in the satellite network topology model according to the satellite network clock model; estimating the relative frequency value of the adjacent node according to the time-frequency measured value, and respectively controlling the frequency consistency of the leading node and the following node according to the relative frequency value; after the frequency consistency control, updating the local node clock and the adjacent node clock locally at each node according to the satellite network clock model; and carrying out time synchronization of the leading node and the following node according to the local node clock and the adjacent node clock. The method can realize high-precision clock time and frequency synchronization of the satellite network.

Description

Satellite network leading follow consistency clock synchronization method, device and equipment
Technical Field
The application relates to the technical field of satellite time synchronization, in particular to a satellite network leading follow consistency clock synchronization method, device and equipment.
Background
With the development of microsatellite technology and the reduction of satellite transmission cost, the value of large-scale low-orbit constellations and stars in the application fields of space-based global communication, remote sensing, detection and the like is further explored and utilized, and the deployment and construction of large-scale and miniaturized constellation/stars systems are accelerating. The high-precision clock synchronization of the satellite network is a core foundation for large-scale satellite network operation and maintenance and application. The high-precision cooperative applications such as inter-satellite cooperative communication, cooperative detection, cooperative control, cooperative calculation and storage and the like and the high-precision time service and positioning service provided for users all put forward higher and higher requirements on inter-satellite time-frequency synchronization, and the development is carried out from microsecond level to nanosecond level and even picosecond level. Because the signals of the GNSS system are weak and easy to interfere, the current method for providing the constellation network time service only by GNSS time service has great risk, and the precision of time service provided by GNSS is limited. When the low orbit constellation/constellation is built, an endogenous space clock synchronous network needs to be built, unified high-precision time and frequency references are built and maintained for all satellite nodes in the network, and the high-precision synchronous application requirements of the space and the satellite ground are supported.
The clock synchronization in the current satellite network mainly adopts a structural clock synchronization mode, and the clock synchronization performance of the method is not high, and the reliability and the expansibility are poor. Because of the high speed motion of satellites, the topology of the satellite network is constantly changing, resulting in frequent analysis of the cluster topology and computation of the network spanning tree, which introduces considerable communication overhead to the network. Therefore, this approach is not applicable to large scale low orbit constellations/constellation. Compared with the method, the distributed clock synchronization mode has more flexible network topology adaptability, high expansibility, strong robustness and higher synchronization precision.
Disclosure of Invention
Based on the foregoing, it is necessary to provide a method, a device and equipment for synchronizing satellite network leading follow-up consistency clock.
A method of satellite network leader following coherent clock synchronization, the method comprising:
Constructing a satellite network topology model; the nodes in the satellite network topology model comprise leading nodes and following nodes; the leader node is a ground reference station clock and/or a reference satellite clock; the following node is a common satellite clock; the connection relation of the nodes in the satellite network topology model is determined according to space-time coordinates and ephemeris information of a ground reference station clock, a reference satellite clock and a common satellite clock;
constructing a satellite network clock model; the satellite network clock model includes: a physical clock model for determining time readings of the nodes and a logical clock model for determining deviations of the time readings;
Acquiring a time-frequency measured value of each node and adjacent nodes thereof in the satellite network topology model according to the satellite network clock model;
estimating a relative frequency value of an adjacent node according to the time-frequency measured value, and respectively carrying out frequency consistency control on the leading node and the following node according to the relative frequency value;
After the frequency consistency control, updating the local node clock and the adjacent node clock locally at each node according to the satellite network clock model;
and carrying out time synchronization of the leading node and the following node according to the local node clock and the adjacent node clock.
In one embodiment, the method further comprises: the physical clock model is constructed as follows:
；
wherein, Representing nodesIs the first of (2)The time of the secondary measurement is taken,Is a nodeIs used for the initial time offset of (a),Is the relative frequency of the clock with respect to the nominal frequency,Is a high order small amount of clock reading.
In one embodiment, the method further comprises: the logic clock model is constructed as follows:
；
Is a node The logic clock is initially biased and,Is a nodeThe relative frequency of the logic clocks is such that,Is a nodeThe initial deviation correction amount of the clock,Is a nodeClock relative frequency correction coefficients.
In one embodiment, the method further comprises: estimating the relative frequency value of the adjacent node according to the time-frequency measured value as follows:
；
wherein, Representation ofTime nodeRelative to the nodeIs set to be a clock of a certain frequency,Is thatTime clock nodeClock nodeThe dynamic correction values for the two-way measurement are made,Representation ofTime nodeDirectional nodeThe clock time of the transmitted measurement signal,
Representation ofFrom moment to momentTime nodeDirectional nodeClock time difference of the transmitted measurement signal.
In one embodiment, the method further comprises: the control protocol for controlling the frequency consistency of the leader node is as follows:
；
wherein, The feedback gain coefficient is synchronously controlled by the leader node consistency clock;
the control protocol for controlling the frequency consistency of the following nodes is as follows:
；
wherein, Is a feedback gain factor that follows the node coherent clock synchronization control.
According to the control protocol, the clock frequencies of the leading node and the following node are consistent:
；
；
In one embodiment, the method further comprises: after the frequency consistency control, updating the local node clock and the adjacent node clock locally at each node according to the satellite network clock model as follows:
；
wherein, Is a clock nodeAnd clock nodeAt the position ofA time-of-day deviation measurement value,Representing an initial deviation of the time of the clock,Representing clock nodesThe relative frequency of the logic clocks is such that,Representing clock nodesIs a logical clock model of the (c),Representing clock nodesIs a physical clock model of (c).
In one embodiment, the method further comprises: the clock time synchronization control protocol for time synchronization of the leader node is as follows:
；
wherein, Is the leader nodeThe number of adjacent leader nodes is determined,Representing a leader nodeIs provided with a clock time synchronization control protocol of (a),Representing a leader nodeLogic clock model of (a);
the clock time synchronization control protocol for time synchronization of the following nodes is as follows:
；
wherein, Is a following nodeThe number of adjacent leading nodes and following nodes.
Updating the clock time initial deviation of each node as follows:
；
finally, the time consistency of the leading node and the following node is realized:
；
；
A satellite network leader following consistency clock synchronization device, the device comprising:
The topology model construction module is used for constructing a satellite network topology model; the nodes in the satellite network topology model comprise leading nodes and following nodes; the leader node is a ground reference station clock and/or a reference satellite clock; the following node is a common satellite clock; the connection relation of the nodes in the satellite network topology model is determined according to space-time coordinates and ephemeris information of a ground reference station clock, a reference satellite clock and a common satellite clock;
The clock model building module is used for building a satellite network clock model; the satellite network clock model includes: a physical clock model for determining time readings of the nodes and a logical clock model for determining deviations of the time readings;
The frequency consistency module is used for acquiring a time-frequency measured value of each node and adjacent nodes thereof in the satellite network topology model according to the satellite network clock model; estimating a relative frequency value of an adjacent node according to the time-frequency measured value, and respectively carrying out frequency consistency control on the leading node and the following node according to the relative frequency value;
The time synchronization module is used for updating the local node clock and the adjacent node clock at each node locally according to the satellite network clock model after the frequency consistency control; and carrying out time synchronization of the leading node and the following node according to the local node clock and the adjacent node clock.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
Constructing a satellite network topology model; the nodes in the satellite network topology model comprise leading nodes and following nodes; the leader node is a ground reference station clock and/or a reference satellite clock; the following node is a common satellite clock; the connection relation of the nodes in the satellite network topology model is determined according to space-time coordinates and ephemeris information of a ground reference station clock, a reference satellite clock and a common satellite clock;
constructing a satellite network clock model; the satellite network clock model includes: a physical clock model for determining time readings of the nodes and a logical clock model for determining deviations of the time readings;
Acquiring a time-frequency measured value of each node and adjacent nodes thereof in the satellite network topology model according to the satellite network clock model;
estimating a relative frequency value of an adjacent node according to the time-frequency measured value, and respectively carrying out frequency consistency control on the leading node and the following node according to the relative frequency value;
After the frequency consistency control, updating the local node clock and the adjacent node clock locally at each node according to the satellite network clock model;
and carrying out time synchronization of the leading node and the following node according to the local node clock and the adjacent node clock.
The satellite network leader following consistency clock synchronization method, device and equipment solve the distributed synchronization control problem and the high-precision tracing problem of the time and the frequency of the clocks of the large-scale satellite network, synchronize the clocks of all satellite nodes to the clocks of the ground reference station and the reference satellite, and realize the high-precision clock time and frequency synchronization of the satellite network.
Drawings
FIG. 1 is a flow diagram of a method for satellite network leader following consistent clock synchronization in one embodiment;
FIG. 2 is a diagram of a frame of a satellite network leader-to-follower consistency clock synchronization control in another embodiment;
FIG. 3 is a block diagram of a satellite network leader following a coherent clock synchronization device in one embodiment;
Fig. 4 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, as shown in fig. 1, there is provided a satellite network leader following consistency clock synchronization method, comprising the steps of:
and 102, constructing a satellite network topology model.
The nodes in the satellite network topology model comprise a leading node and a following node; the leader node is a ground reference station clock and/or a reference satellite clock; the following node is a common satellite clock; the connection relation of the nodes in the satellite network topology model is determined according to space-time coordinates and ephemeris information of a ground reference station clock, a reference satellite clock and a common satellite clock.
And 104, constructing a satellite network clock model.
The satellite network clock model includes: a physical clock model for determining time readings of the nodes and a logical clock model for determining deviations of the time readings.
And 106, acquiring a time-frequency measured value of each node and adjacent nodes thereof in the satellite network topology model according to the satellite network clock model.
And step 108, estimating the relative frequency value of the adjacent node according to the time-frequency measured value, and respectively controlling the frequency consistency of the leading node and the following node according to the relative frequency value.
Step 110, after the frequency consistency control, the local node clock and the adjacent node clock are updated locally at each node according to the satellite network clock model.
Step 112, time synchronization of the leader node and the follower node is performed according to the local node clock and the adjacent node clock.
In the satellite network leading following consistency clock synchronization method, the distributed synchronization control problem of the time and frequency of the large-scale satellite network clock and the high-precision tracing problem are solved, the clocks of all satellite nodes are synchronized to the clocks of the ground reference station and the reference satellite, and the high-precision clock time and frequency synchronization of the satellite network is realized.
In one embodiment, for step 102, a topology model of the satellite network may be constructed based on the space-time coordinates and ephemeris information of the ground reference station, reference satellite, and common satellite. Constructing a satellite network topology model by adopting graph theory as a description tool of satellite network topology characteristicsWhereinRepresenting a set of satellite/terrestrial clock nodes,Indicating the number of leader nodes (ground reference station clock and reference satellite clock),Representing the number of following nodes (common satellite clocks),Representing a set of inter-satellite measurement links,Representing a weighting matrix of links, the weighting coefficients of the linksRepresenting nodesNode → nodeNodeIs the link master node, and nodeAndAll belong to. Two clock nodes which can be directly linked are regarded as adjacent nodes, and the adoption ofRepresenting satellite network clock nodesIs provided for the set of adjacent clock nodes.
In one embodiment, the physical clock model is built as:
；
wherein, Representing nodesIs the first of (2)The time of the secondary measurement is taken,Is a nodeIs used for the initial time offset of (a),Is the relative frequency of the clock with respect to the nominal frequency,Is a high order small amount of clock reading that is negligible for a high precision clock in a short measurement period.
In another embodiment, building a logical clock model is:
；
Is a node The logic clock is initially biased and,Is a nodeThe relative frequency of the logic clocks is such that,Is a nodeThe initial deviation correction amount of the clock,Is a nodeClock relative frequency correction coefficients.
It should be noted that the physical clock model is a direct model of the clock readings of the satellite network clock nodes, and the logic clock model is a modified model of the clock readings of the satellite network clock nodes.
In one embodiment, the relative frequency values of the neighboring nodes are estimated from the time-frequency measurements as:
；
wherein, Representation ofTime nodeRelative to the nodeIs set to be a clock of a certain frequency,Is thatTime clock nodeClock nodeThe dynamic correction values for the two-way measurement are made,Representation ofTime nodeDirectional nodeThe clock time of the transmitted measurement signal,Representation ofFrom moment to momentTime nodeDirectional nodeClock time difference of the transmitted measurement signal. In this embodiment, the relative frequency estimation can be performed using the time stamp values of two consecutive inter-satellite/satellite measurements.
In another embodiment, the control protocol for frequency consistency control of the leader node is:
；
wherein, The feedback gain coefficient is synchronously controlled by the leader node consistency clock; the control protocol for controlling the frequency consistency of the following nodes is as follows:
；
wherein, The feedback gain coefficient is synchronously controlled by the consistency clock of the following node; according to the control protocol, the clock frequencies of the leading node and the following node are consistent:
；
；
In one embodiment, after the frequency consistency control, the local node clock and the adjacent node clock are updated locally at each node according to the satellite network clock model as:
；
wherein, Is a clock nodeAnd clock nodeAt the position ofA time-of-day deviation measurement value,Representing an initial deviation of the time of the clock,Representing clock nodesThe relative frequency of the logic clocks is such that,Representing clock nodesIs a logical clock model of the (c),Representing clock nodesIs a physical clock model of (c).
In another embodiment, the clock time synchronization control protocol for time synchronizing the leader node is:
；
wherein, Is the leader nodeThe number of adjacent leader nodes is determined,Representing a leader nodeIs provided with a clock time synchronization control protocol of (a),Representing a leader nodeLogic clock model of (a); the clock time synchronization control protocol for time synchronization of the following nodes is as follows:
；
wherein, Is a following nodeThe number of adjacent leading nodes and following nodes; updating the clock time initial deviation of each node as follows:
；
finally, the time consistency of the leading node and the following node is realized:
；
；
In summary, as shown in fig. 2, during the synchronization of the satellite network clock, each satellite node/reference node performs time-frequency measurement through the constructed inter-satellite/inter-satellite measurement link to obtain the time deviation between the satellite node/reference node and the adjacent node And relative frequency. Because the satellite network clock needs to trace to the ground reference station/reference satellite, all clock reference nodes can be used as leading nodes, and the situation that the satellite network clock hasClock reference stations/reference satellites, respectively. All other satellite clock nodes are taken as following nodes, and are assumed to beThe satellite clock nodes are respectively. Each node obtains time-frequency measurement values by using adjacent inter-satellite/satellite-ground links（Representing nodesThe adjacent nodes of the leader) and the following nodes are synchronously controlled by the leader following consistency clock, the method has the distributed control characteristic, and the control modes of the leader node and the following nodes are different. And each node obtains the relative frequency and time estimated value of the node clock after synchronous control, so as to carry out time and frequency compensation on the clock of the node, thereby realizing the leading following consistency clock synchronization of the satellite network clock.
In the method, space-time coordinates of a ground reference station in the whole satellite network clock synchronization system and ephemeris information of a reference satellite and a common satellite are obtained and used as prior information and network constraint of the whole synchronization system. Secondly, the ground reference station and the reference satellite are used as leading nodes of the satellite network clock synchronization system, the ground reference station and the reference satellite do not need to exist, the ground reference station or the reference satellite can be used as the ground reference station or the reference satellite, other satellites are used as following nodes, and network topology and inter-satellite measurement links for configuring the satellite network clock synchronization system are calculated. And then, each satellite node and the adjacent nodes carry out inter-satellite/satellite-ground bidirectional measurement, and the prior ephemeris information is combined to calculate the time deviation and the relative frequency of the inter-satellite clock to the sending time of the inter-satellite measurement initiating node, so that the measurement error caused by the high-speed movement of the satellite and the dynamic drift of the clock is reduced or eliminated. And then, each satellite node uses inter-satellite/satellite-ground measurement values to perform leading-following consistency clock synchronous control, and performs distributed calculation to realize the consistency of time and frequency of a satellite network clock. And finally, compensating and correcting the satellite network clock time and frequency by using the time and frequency control quantity obtained by the consistency control method, and evaluating the synchronization performance.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 3, there is provided a satellite network leader following consistency clock synchronization apparatus, comprising: a topology model building module 302, a clock model building module 304, a frequency consistency module 306, and a time synchronization module 308, wherein:
The topology model construction module 302 is configured to construct a satellite network topology model; the nodes in the satellite network topology model comprise leading nodes and following nodes; the leader node is a ground reference station clock and/or a reference satellite clock; the following node is a common satellite clock; the connection relation of the nodes in the satellite network topology model is determined according to space-time coordinates and ephemeris information of a ground reference station clock, a reference satellite clock and a common satellite clock;
the clock model construction module 304 is configured to construct a satellite network clock model; the satellite network clock model includes: a physical clock model for determining time readings of the nodes and a logical clock model for determining deviations of the time readings;
The frequency consistency module 306 is configured to obtain, according to the satellite network clock model, a time-frequency measurement value of each node and its neighboring node in the satellite network topology model; estimating a relative frequency value of an adjacent node according to the time-frequency measured value, and respectively carrying out frequency consistency control on the leading node and the following node according to the relative frequency value;
a time synchronization module 308, configured to update, locally at each node, a local node clock and an adjacent node clock according to the satellite network clock model after the frequency consistency control; and carrying out time synchronization of the leading node and the following node according to the local node clock and the adjacent node clock.
In one embodiment, the clock model building module 304 is further configured to build a physical clock model as:
；
wherein, Representing nodesIs the first of (2)The time of the secondary measurement is taken,Is a nodeIs used for the initial time offset of (a),Is the relative frequency of the clock with respect to the nominal frequency,Is a high order small amount of clock reading.
In one embodiment, the clock model building module 304 is further configured to build a logic clock model as follows:
；
Is a node The logic clock is initially biased and,Is a nodeThe relative frequency of the logic clocks is such that,Is a nodeThe initial deviation correction amount of the clock,Is a nodeClock relative frequency correction coefficients.
In one embodiment, the frequency consistency module 306 is further configured to estimate, from the time-frequency measurement values, the relative frequency values of the neighboring nodes as:
；
wherein, Representation ofTime nodeRelative to the nodeIs set to be a clock of a certain frequency,Is thatTime clock nodeClock nodeThe dynamic correction values for the two-way measurement are made,Representation ofTime nodeDirectional nodeThe clock time of the transmitted measurement signal,
Representation ofFrom moment to momentTime nodeDirectional nodeClock time difference of the transmitted measurement signal.
In one embodiment, the control protocol used by the frequency consistency module 306 to perform frequency consistency control on the leader node is:
；
wherein, The feedback gain coefficient is synchronously controlled by the leader node consistency clock;
the control protocol for controlling the frequency consistency of the following nodes is as follows:
；
wherein, The feedback gain coefficient is synchronously controlled by the consistency clock of the following node;
the relative frequency coincidence of the leading node and the following node according to the control protocol is as follows:
；
；
in one embodiment, the time synchronization module 308 is further configured to update, after the frequency consistency control, the local node clock and the neighboring node clock locally at each node according to the satellite network clock model as:
；
wherein, Is a clock nodeAnd clock nodeAt the position ofA time-of-day deviation measurement value,Representing an initial deviation of the time of the clock,Representing clock nodesThe relative frequency of the logic clocks is such that,Representing clock nodesIs a logical clock model of the (c),Representing clock nodesIs a physical clock model of (c).
In one embodiment, the clock time synchronization control protocol used by the time synchronization module 308 to time synchronize the leader node is:
；
wherein, Is the leader nodeThe number of adjacent leader nodes is determined,Representing a leader nodeIs provided with a clock time synchronization control protocol of (a),Representing a leader nodeLogic clock model of (a);
the clock time synchronization control protocol for time synchronization of the following nodes is as follows:
；
wherein, Is a following nodeThe number of adjacent leading nodes and following nodes;
Updating the clock time initial deviation of each node as follows:
；
The time coincidence of the leading node and the following node is as follows:
；
；
For specific limitations on the satellite network leader-to-follow consistent clock synchronization apparatus, reference may be made to the above limitation on the satellite network leader-to-follow consistent clock synchronization method, which is not repeated here. The various modules in the satellite network leader following coherent clock synchronization apparatus described above may be implemented in whole or in part in software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, a clock module, and a measurement module connected by a system bus. The clock module provides local clock time information, and the measurement module provides inter-satellite/satellite-to-ground time measurement information. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by the processor to implement a satellite network leader following consistency clock synchronization method.
It will be appreciated by persons skilled in the art that the architecture shown in fig. 4 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In an embodiment a computer device is provided comprising a memory storing a computer program and a processor implementing the steps of the method of the above embodiments when the computer program is executed.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method of the above embodiments.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (8)

1.一种卫星网络领导跟随一致性时钟同步方法，其特征在于，所述方法包括：1. A satellite network leader-follower consistency clock synchronization method, characterized in that the method comprises: 构建卫星网络拓扑模型；所述卫星网络拓扑模型中的节点包括领导节点和跟随节点；所述领导节点为地面基准站时钟和/或基准卫星时钟；所述跟随节点为普通卫星时钟；所述卫星网络拓扑模型中节点的连接关系是根据地面基准站时钟、基准卫星时钟以及普通卫星时钟的时空坐标与星历信息确定的；Constructing a satellite network topology model; the nodes in the satellite network topology model include a leader node and a follower node; the leader node is a ground reference station clock and/or a reference satellite clock; the follower node is an ordinary satellite clock; the connection relationship of the nodes in the satellite network topology model is determined according to the time and space coordinates and ephemeris information of the ground reference station clock, the reference satellite clock and the ordinary satellite clock; 构建卫星网络时钟模型；所述卫星网络时钟模型包括：物理时钟模型和逻辑时钟模型，所述物理时钟模型用于确定所述节点的时间读数，所述逻辑时钟模型用于确定所述时间读数的偏差；Constructing a satellite network clock model; the satellite network clock model includes: a physical clock model and a logical clock model, the physical clock model is used to determine the time reading of the node, and the logical clock model is used to determine the deviation of the time reading; 根据所述卫星网络时钟模型，获取所述卫星网络拓扑模型中每个节点与其邻接节点的时频测量值；According to the satellite network clock model, obtaining time-frequency measurement values of each node and its adjacent nodes in the satellite network topology model; 根据所述时频测量值估计相邻节点的相对频率值，根据所述相对频率值分别对所述领导节点和所述跟随节点进行频率一致性控制；estimating relative frequency values of adjacent nodes according to the time-frequency measurement values, and performing frequency consistency control on the leading node and the following node respectively according to the relative frequency values; 在频率一致性控制之后，在每个节点本地根据所述卫星网络时钟模型更新本节点时钟以及邻接节点时钟；After the frequency consistency control, at each node, the local clock and the adjacent node clock are updated according to the satellite network clock model; 根据本节点时钟以及邻接节点时钟进行领导节点和跟随节点的时间同步；The time of the leader node and the follower node is synchronized according to the clock of the local node and the clock of the adjacent node; 在频率一致性控制之后，在每个节点本地根据所述卫星网络时钟模型更新本节点时钟以及邻接节点时钟，包括：After the frequency consistency control, each node locally updates the local node clock and the adjacent node clock according to the satellite network clock model, including: 在频率一致性控制之后，在每个节点本地根据所述卫星网络时钟模型更新本节点时钟以及邻接节点时钟为：After frequency consistency control, each node locally updates the local node clock and the adjacent node clock according to the satellite network clock model as follows: ； ; 其中，，表示卫星网络时钟节点的邻近时钟节点集合，是时钟节点和时钟节点在时刻的时间偏差测量值，表示时钟时间初始偏差，是节点时钟相对频率修正系数，表示时钟节点的相对频率修正系数，是时钟相对标称频率的相对频率，表示时钟节点的逻辑时钟模型，表示时钟节点的物理时钟模型，表示领导节点的逻辑时钟模型。in, , Represents the satellite network clock node The set of neighboring clock nodes, It is a clock node and clock nodes exist The time deviation measurement value of the moment, Indicates the initial deviation of the clock time, Is a node Clock relative frequency correction factor, Represents a clock node The relative frequency correction factor, is the relative frequency of the clock relative to the nominal frequency, Represents a clock node The logical clock model of Represents a clock node The physical clock model, Represents the leader node Logical clock model. 2.根据权利要求1所述的方法，其特征在于，构建物理时钟模型的步骤包括：2. The method according to claim 1, wherein the step of constructing a physical clock model comprises: 构建物理时钟模型为：The physical clock model is constructed as follows: ； ; 其中，表示节点的第k次测量时刻，是节点的初始时间偏差，是时钟读数的高阶小量。in, Representation Node At the kth measurement moment, Is a node The initial time deviation, is a high-order epsilon of the clock reading. 3.根据权利要求2所述的方法，其特征在于，构建逻辑时钟模型的步骤包括：3. The method according to claim 2, wherein the step of constructing a logical clock model comprises: 构建逻辑时钟模型为：The logical clock model is constructed as follows: ； ; 是节点逻辑时钟初始偏差，表示逻辑时钟模型，是节点逻辑时钟相对频率，是节点时钟初始偏差修正量，是节点时钟相对频率修正系数。 Is a node Logical clock initial deviation, Represents the logical clock model, Is a node Logical clock relative frequency, Is a node The initial clock deviation correction, Is a node Clock relative frequency correction factor. 4.根据权利要求3所述的方法，其特征在于，根据所述时频测量值估计相邻节点的相对频率值，包括：4. The method according to claim 3, characterized in that estimating the relative frequency value of the adjacent node according to the time-frequency measurement value comprises: 根据所述时频测量值估计相邻节点的相对频率值为：The relative frequency values of adjacent nodes estimated based on the time-frequency measurement values are: ； ; 其中，表示时刻节点相对于节点的时钟相对频率，是t时刻时钟节点与时钟节点进行双向测量的动态修正值，表示时刻节点向节点发射测量信号的时钟时间，表示时刻到时刻节点向节点发射测量信号的时钟时间差值。in, express Time Node Relative to the node The relative frequency of the clock, is the clock node at time t With clock node Dynamic correction value for bidirectional measurement, express Time Node To Node The clock time at which the measurement signal was emitted, express Time has come Time Node To Node The clock time difference of the emission measurement signal. 5.根据权利要求4所述的方法，其特征在于，根据所述相对频率值分别对所述领导节点和所述跟随节点进行频率一致性控制，包括：5. The method according to claim 4, characterized in that the frequency consistency control of the leader node and the follower node is performed respectively according to the relative frequency value, comprising: 对所述领导节点进行频率一致性控制的控制协议为：The control protocol for frequency consistency control of the leader node is: ； ; 其中，是领导节点一致性时钟同步控制的反馈增益系数；in, is the feedback gain coefficient of the leader node’s consistent clock synchronization control; 对所述跟随节点进行频率一致性控制的控制协议为：The control protocol for frequency consistency control of the follower node is: ； ; 其中，是跟随节点一致性时钟同步控制的反馈增益系数；in, is the feedback gain coefficient of the follower node consistency clock synchronization control; 根据所述控制协议实现领导节点和跟随节点的时钟频率的一致：The clock frequencies of the leading node and the following node are made consistent according to the control protocol: ； ; 。 . 6.根据权利要求5所述的方法，其特征在于，根据本节点时钟以及邻接节点时钟进行领导节点和跟随节点的时间同步，还包括：6. The method according to claim 5, characterized in that the time synchronization of the leader node and the follower node is performed according to the clock of the node and the clock of the adjacent node, and further comprising: 对领导节点进行时间同步的时钟时间同步控制协议为：The clock time synchronization control protocol for time synchronization of the leader node is: ； ; 其中，是领导节点邻接的领导节点的个数，表示领导节点的时钟时间同步控制协议，表示领导节点的逻辑时钟模型；in, Is the leader node The number of adjacent leader nodes, Represents the leader node Clock time synchronization control protocol, Represents the leader node Logical clock model of 对跟随节点进行时间同步的时钟时间同步控制协议为：The clock time synchronization control protocol for time synchronization of follower nodes is: ； ; 其中，是跟随节点邻接的领导节点和跟随节点的个数；in, Is a follower node The number of adjacent leader nodes and follower nodes; 更新各个节点的时钟时间初始偏差为：Update the initial clock time deviation of each node to: ； ; 最终实现领导节点与跟随节点的时间一致：Finally, the time of the leader node and the follower node is consistent: ； ; 。 . 7.一种卫星网络领导跟随一致性时钟同步装置，其特征在于，所述装置包括：7. A satellite network leader-follower consistency clock synchronization device, characterized in that the device comprises: 拓扑模型构建模块，用于构建卫星网络拓扑模型；所述卫星网络拓扑模型中的节点包括领导节点和跟随节点；所述领导节点为地面基准站时钟和/或基准卫星时钟；所述跟随节点为普通卫星时钟；所述卫星网络拓扑模型中节点的连接关系是根据地面基准站时钟、基准卫星时钟以及普通卫星时钟的时空坐标与星历信息确定的；A topology model building module is used to build a satellite network topology model; the nodes in the satellite network topology model include a leader node and a follower node; the leader node is a ground reference station clock and/or a reference satellite clock; the follower node is an ordinary satellite clock; the connection relationship of the nodes in the satellite network topology model is determined according to the time and space coordinates and ephemeris information of the ground reference station clock, the reference satellite clock and the ordinary satellite clock; 时钟模型构建模块，用于构建卫星网络时钟模型；所述卫星网络时钟模型包括：物理时钟模型和逻辑时钟模型，所述物理时钟模型用于确定所述节点的时间读数，所述逻辑时钟模型用于确定所述时间读数的偏差；A clock model building module, used to build a satellite network clock model; the satellite network clock model includes: a physical clock model and a logical clock model, the physical clock model is used to determine the time reading of the node, and the logical clock model is used to determine the deviation of the time reading; 频率一致性模块，用于根据所述卫星网络时钟模型，获取所述卫星网络拓扑模型中每个节点与其邻接节点的时频测量值；根据所述时频测量值估计相邻节点的相对频率值，根据所述相对频率值分别对所述领导节点和所述跟随节点进行频率一致性控制；A frequency consistency module is used to obtain the time-frequency measurement values of each node and its adjacent nodes in the satellite network topology model according to the satellite network clock model; estimate the relative frequency values of the adjacent nodes according to the time-frequency measurement values, and perform frequency consistency control on the leading node and the follower node respectively according to the relative frequency values; 时间同步模块，用于在频率一致性控制之后，在每个节点本地根据所述卫星网络时钟模型更新本节点时钟以及邻接节点时钟；根据本节点时钟以及邻接节点时钟进行领导节点和跟随节点的时间同步；A time synchronization module is used to update the local node clock and the adjacent node clock at each node according to the satellite network clock model after frequency consistency control; and perform time synchronization between the leading node and the following node according to the local node clock and the adjacent node clock; 时间同步模块还用于在频率一致性控制之后，在每个节点本地根据所述卫星网络时钟模型更新本节点时钟以及邻接节点时钟为：The time synchronization module is also used to update the local node clock and the adjacent node clock at each node according to the satellite network clock model after the frequency consistency control: ； ; 其中，，是时钟节点和时钟节点在时刻的时间偏差测量值，表示时钟时间初始偏差，表示时钟节点逻辑时钟相对频率，是时钟相对标称频率的相对频率，表示时钟节点的逻辑时钟模型，表示时钟节点的物理时钟模型。in, , It is a clock node and clock nodes exist The time deviation measurement value of the moment, Indicates the initial deviation of the clock time, Represents a clock node Logical clock relative frequency, is the relative frequency of the clock relative to the nominal frequency, Represents a clock node The logical clock model of Represents a clock node The physical clock model. 8.一种计算机设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至6中任一项所述方法的步骤。8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of the method according to any one of claims 1 to 6 when executing the computer program.
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