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A multi-node system collaborative operation synchronization method and system

A multi-node, node technology, applied in transmission systems, digital transmission systems, data exchange networks, etc., can solve the problems of poor synchronization and coordination of multi-node systems, and ensure the accuracy of time and space synchronization, improve processing efficiency, and simplify The effect of data processing volume

Active Publication Date: 2021-02-12
涵涡智航科技(玉溪)有限公司
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Problems solved by technology

[0006] Aiming at the problems existing in the above-mentioned prior art, the present invention discloses a multi-node system collaborative operation synchronization method and system, which solves the problem of poor synchronization and coordination of the multi-node system in the prior art, and improves the performance of the multi-node system. Time synchronization, which enhances the multi-node synchronous cooperation ability and also improves the adaptability of the system environment

Method used

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  • A multi-node system collaborative operation synchronization method and system
  • A multi-node system collaborative operation synchronization method and system
  • A multi-node system collaborative operation synchronization method and system

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Embodiment

[0051] In this example, five pesticide spraying drones cooperate to spray pesticides on the farmland:

[0052] combine figure 1 As shown, a multi-node system collaborative operation synchronization method disclosed in this embodiment includes the following steps:

[0053] S01. The master control node is in A 1 Send a synchronization message (Sync) message to one of the UAV operation nodes at all times;

[0054] S02. The UAV operation node is in A 2 A synchronization message (Sync) message is received, and in A 3 Send back a delay measurement request (Delay_Req) ​​message to the master control node at all times to indicate that the device is online;

[0055] S03. The master control node is in A 4 Receive delay measurement request (Delay_Req) ​​message at any time;

[0056] S04. The master control node according to A 1 、A 2 、A 3 、A 4 The time error between the main control node and the UAV operation node calculated at four moments is:

[0057] d=[(A 2 -A 1 )+(A 4 -...

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Abstract

The invention relates to a multi-node system collaborative operation synchronization method and system. The method calculates the average time error of the main control node to all operation nodes in the system and the degree of dispersion of the corresponding time error; and according to the average time of all operation nodes Error and the degree of dispersion of the corresponding time error to calculate the overall time error of the system; the master control node issues tasks in advance according to the overall time error. The system uses a combination of centralized and distributed to solve the multi-node system synchronization in the prior art It improves the time synchronization of the multi-node system, enhances the synchronous cooperation ability of multi-nodes, and improves the adaptability of the system environment.

Description

technical field [0001] The invention relates to the technical field of multi-node system cooperative operation, in particular to a multi-node system cooperative operation synchronization method and system. Background technique [0002] For the collaborative operation of multi-node systems, whether it is unmanned aerial vehicles, unmanned ships, unmanned vehicles, or other unmanned platforms, there are two main difficulties, one is the time error synchronization of control commands, and the other is multi-node Selection of node cooperation model. [0003] For the time error synchronization of control commands, the existing technology only considers the time synchronization, but ignores the space synchronization. Chinese patent document CN103889046B discloses a time synchronization method for underwater sensor networks, which uses standard time nodes and The collision of the data packet sent by the node to be synchronized at the receiving end of the node to be synchronized de...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L12/24H04L29/08
CPCH04L41/0823H04L41/042H04L67/1095H04L67/1097H04L67/1001H04L41/0661
Inventor 张圣超
Owner 涵涡智航科技(玉溪)有限公司
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