CN109075882B - Synchronization method, device and system - Google Patents
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- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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Abstract
The embodiment of the invention provides a synchronization method, a device and a system, wherein the method comprises the following steps: the unmanned aerial vehicle acquires first time information from a satellite through a clock synchronization module; the unmanned aerial vehicle sends data and the first time information to a control terminal of the unmanned aerial vehicle; the first time information is used to synchronize the data. Unmanned aerial vehicle and control terminal all use the time of satellite as synchronous benchmark in this embodiment, and the synchronization between unmanned aerial vehicle and the control terminal does not have the relation of interdependence, need not carry out the synchronization information interaction between the two, and control terminal can accomplish the synchronization according to the first time information of receipt and the second time information that obtains, and synchronous precision is high.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a synchronization method, synchronization equipment and a synchronization system.
Background
Present unmanned aerial vehicle system includes at the unmanned aerial vehicle that is used for flying at the sky end to and be used for controlling unmanned aerial vehicle's controlgear at the ground end, the unmanned aerial vehicle of sky end can communicate with the controlgear of ground end, the picture transmission that the unmanned aerial vehicle of sky end will shoot gives the controlgear of ground end, makes controlgear control display device show the picture that unmanned aerial vehicle shot. And the control equipment can send control instructions to the unmanned aerial vehicle according to the operation of the user to change the flight attitude of the unmanned aerial vehicle and the like. In order to guarantee normal communication between the unmanned aerial vehicle at the sky end and the control equipment at the ground end, synchronization needs to be carried out between the unmanned aerial vehicle and the control equipment. In the prior art, the unmanned aerial vehicle at the sky end and the control equipment at the ground end need frequently transmit synchronization information and correct the synchronization information, so that the synchronization precision is low.
Disclosure of Invention
The embodiment of the invention provides a synchronization method, synchronization equipment and a synchronization system, which are used for improving synchronization precision.
In a first aspect, an embodiment of the present invention provides a synchronization method, including:
the unmanned aerial vehicle acquires first time information from a satellite through a clock synchronization module; and
the unmanned aerial vehicle sends data and the first time information to a control terminal of the unmanned aerial vehicle; the first time information is used to synchronize the data.
In one possible design, the first time information is time information recorded when the drone acquires the data.
In one possible design, the sending, by the drone, data and the first time information to the control terminal includes:
the unmanned aerial vehicle generates a downlink signal according to the data and the first time information;
and the unmanned aerial vehicle sends the downlink signal to the control terminal.
In one possible design, the clock synchronization module includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
In a second aspect, an embodiment of the present invention provides a synchronization method, including:
the control terminal receives data and first time information sent by the unmanned aerial vehicle;
the control terminal acquires second time information from the satellite through the clock synchronization module;
and the control terminal synchronizes the data according to the first time information and the second time information.
In one possible design, the first time information is time information recorded when the unmanned aerial vehicle acquires the data; and/or the second time information is the time information acquired when the control terminal receives the data.
In one possible design, the synchronizing the data by the control terminal according to the first time information and the second time information includes:
the control terminal determines a time difference between the control terminal and the unmanned aerial vehicle according to the first time information and the second time information;
and the control terminal synchronizes the data according to the time difference.
In one possible design, the determining, by the control terminal, a time difference between the control terminal and the drone according to the first time information and the second time information includes:
the control terminal acquires a clock signal of the first time information according to the first time information;
the control terminal acquires a clock signal of the second time information according to the second time information;
the control terminal obtains a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information;
the control terminal synchronizes the data according to the time difference, and the method comprises the following steps:
and the control terminal synchronizes the data according to the difference clock signal.
In one possible design, the synchronizing the data by the control terminal according to the difference clock signal includes: and the control terminal adjusts the frequency and/or the phase of the data according to the difference clock signal so as to perform time synchronization with the unmanned aerial vehicle.
In one possible design, the control terminal receives data and first time information sent by the drone, and includes:
the control terminal receives a downlink signal sent by the unmanned aerial vehicle;
and the control terminal analyzes the downlink signal to obtain the data and the first time information.
In one possible design, the clock synchronization module includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, including:
the clock synchronization module is used for acquiring first time information from a satellite; and
the transmitter is used for transmitting data and the first time information to a control terminal of the unmanned aerial vehicle, and the first time information is used for synchronizing the data.
In one possible design, the first time information is time information recorded when the drone acquires the data.
In one possible design, the transmitter is further configured to: generating a downlink signal according to the data and the first time information; and sending the downlink signal to the control terminal.
In one possible design, the clock synchronization module includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
In a fourth aspect, an embodiment of the present invention provides a control terminal, including:
the receiver is used for receiving data and first time information sent by the unmanned aerial vehicle;
the clock synchronization module is used for acquiring second time information from the satellite;
and the processor is used for synchronizing the data according to the first time information and the second time information.
In one possible design, the first time information is time information recorded when the unmanned aerial vehicle acquires the data; and/or the second time information is the time information acquired when the control terminal receives the data.
In one possible design, the processor is further configured to: determining a time difference between the control terminal and the unmanned aerial vehicle according to the first time information and the second time information; and synchronizing the data according to the time difference.
In one possible design, the processor is further configured to: acquiring a clock signal of the first time information according to the first time information; acquiring a clock signal of the second time information according to the second time information; obtaining a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information; and synchronizing the data according to the difference clock signal.
In one possible design, the processor is further configured to: adjusting the frequency and/or phase of the data according to the difference clock signal to perform time synchronization with the drone.
In one possible design, the receiver is further configured to: receiving a downlink signal sent by the unmanned aerial vehicle; and analyzing the downlink signal to obtain the data and the first time information.
In one possible design, the clock synchronization module includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
In a fifth aspect, an embodiment of the present invention provides a synchronization system, including: an unmanned aerial vehicle and a control terminal;
the unmanned aerial vehicle is used for acquiring first time information from a satellite through a clock synchronization module; sending data and the first time information to a control terminal, wherein the first time information is used for synchronizing the data;
the control terminal is used for receiving data and first time information sent by the unmanned aerial vehicle; acquiring second time information from the satellite through a clock synchronization module; and synchronizing the data according to the first time information and the second time information.
In one possible design, the first time information is time information recorded when the unmanned aerial vehicle acquires the data; and/or the second time information is the time information acquired when the control terminal receives the data.
In one possible design, the control terminal is further configured to: determining a time difference between the control terminal and the unmanned aerial vehicle according to the first time information and the second time information; and synchronizing the data according to the time difference.
In one possible design, the control terminal is further configured to: acquiring a clock signal of the first time information according to the first time information; acquiring a clock signal of the second time information according to the second time information; obtaining a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information; and synchronizing the data according to the difference clock signal.
In one possible design, the control terminal is further configured to: adjusting the frequency and/or phase of the data according to the difference clock signal to perform time synchronization with the drone.
In one possible design, the drone is further configured to: generating a downlink signal according to the data and the first time information; and sending the downlink signal to the control terminal;
the control terminal is further configured to: receiving a downlink signal sent by the unmanned aerial vehicle; and analyzing the downlink signal to obtain the data and the first time information.
In one possible design, the clock synchronization module includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
According to the synchronization method, the synchronization device and the synchronization system provided by the embodiment of the invention, the unmanned aerial vehicle acquires first time information from a satellite through the clock synchronization module and sends data and the first time information to the control terminal, and when the control terminal receives the data and the first time information, the control terminal acquires second time information from the satellite through the clock synchronization module and then synchronizes the data according to the first time information and the second time information. Unmanned aerial vehicle and control terminal all use the time of satellite as synchronous benchmark in this embodiment, and the synchronization between unmanned aerial vehicle and the control terminal does not have the relation of interdependence, need not carry out the synchronization information interaction between the two, and control terminal can accomplish the synchronization according to the first time information of receipt and the second time information that obtains, and synchronous precision is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic architectural diagram of an unmanned aerial vehicle system 100 according to an embodiment of the present invention;
FIG. 2 is a flowchart of a synchronization method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a clock synchronization module of the unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a clock synchronization module of a control terminal according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a synchronization system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a synchronization method, equipment and a system. The following description of the invention uses an unmanned aerial vehicle UAV as an example of an aircraft. It will be apparent to those skilled in the art that other types of aircraft may be used without limitation, and embodiments of the present invention may be applied to various types of UAVs. For example, the UAV may be a small UAV. In some embodiments, the UAV may be a rotorcraft (rotorcraft), such as a multi-rotor aircraft propelled through the air by multiple propulsion devices, embodiments of the invention are not limited in this regard, and the UAV may be other types of UAVs or mobile devices.
Fig. 1 is a schematic architecture diagram of an unmanned aerial vehicle system 100 according to an embodiment of the present invention. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.
The unmanned aerial vehicle system 100 can include a drone 110, a pan and tilt head 120, a display device 130, and a control apparatus 140. The drone 110 may include, among other things, a power system 150, a flight control system 160, and a frame. The drone 110 may be in wireless communication with the control apparatus 140 and the display device 130.
The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.
The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, and the motors 152 and the propellers 153 are disposed on corresponding arms; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a roll axis, a yaw axis, and a pitch axis. It should be understood that the motor 152 may be a dc motor or an ac motor. In addition, the motor 152 may be a brushless motor or a brush motor.
The pan/tilt head 120 may include a motor 122. The cradle head is used to carry the imaging device 123. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the motor 122 may be a dc motor or an ac motor. In addition, the motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.
The imaging device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the imaging device 123 may communicate with the flight controller and perform shooting under the control of the flight controller.
The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used for displaying attitude information of the unmanned aerial vehicle 110. In addition, an image taken by the imaging device may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be provided in the control apparatus 140.
The control device 140 is located at the ground end of the unmanned aerial vehicle system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110.
It should be understood that the above-mentioned nomenclature for the components of the unmanned flight system is for identification purposes only, and should not be construed as limiting embodiments of the present invention.
Fig. 2 is a flowchart of a synchronization method according to an embodiment of the present invention, and as shown in fig. 2, the method according to the embodiment may include:
s201, the unmanned aerial vehicle acquires first time information from a satellite through a clock synchronization module.
In this embodiment, when sending data to the control terminal of the unmanned aerial vehicle, the unmanned aerial vehicle is further to send time information to the control terminal, the time information is time information recorded when the unmanned aerial vehicle acquires the data, the time reference of this embodiment all uses the time of the satellite as a reference, a clock synchronization module is arranged in the unmanned aerial vehicle of this embodiment, the unmanned aerial vehicle acquires current time information from the satellite through the clock synchronization module, the current time information is referred to as first time information here, and the first time information acquired from the satellite uses the time of the satellite as a reference. Here, the drone is, for example, the drone 110 shown in fig. 1, and the control terminal of the drone is, for example, the control device 140 shown in fig. 1.
Specifically, the clock synchronization module of the unmanned aerial vehicle receives clock information from the satellite, and then generates time information according to the received clock information, wherein the time information is the first time information, so that the unmanned aerial vehicle can obtain the first time information through the clock synchronization module. In some embodiments, the first time information is high-precision time information.
S202, the unmanned aerial vehicle sends data and the first time information to a control terminal. And the control terminal receives the data and the first time information sent by the unmanned aerial vehicle.
In this embodiment, when the unmanned aerial vehicle acquires the first time information and the current unmanned aerial vehicle needs to send data to the control terminal, the unmanned aerial vehicle sends the data and the first time information to the control terminal, and the first time information is used for synchronizing the data.
Correspondingly, the control terminal receives data sent by the unmanned aerial vehicle and first time information, and the first time information is based on the time of the satellite.
And S203, the control terminal acquires second time information from the satellite through the clock synchronization module.
In this embodiment, the time reference of the control terminal is also based on the time of the satellite, and the control terminal is provided with a clock synchronization module, by which the control terminal acquires current time information from the satellite, the current time information being referred to as second time information herein, and the second time information acquired from the satellite is based on the time of the satellite.
Specifically, the clock synchronization module of the control terminal receives clock information from the satellite, and then generates time information according to the received clock information, where the time information is the second time information, so that the control terminal can obtain the second time information through the clock synchronization module. In some embodiments, the second time information is high-precision time information.
S204, the control terminal synchronizes the data according to the first time information and the second time information.
In this embodiment, the control terminal receives first time information recorded when instructing the unmanned aerial vehicle to acquire data, and the control terminal acquires first time information indicating a time when the control terminal receives the data, so that it can be known that the control terminal acquires time information (i.e., first time information) of a transmitting end and time information (i.e., second time information) of a receiving end of the data, and the first time information and the second time information are based on the same time reference, and then the control terminal can synchronize the data according to the first time information and the second time information, thereby achieving synchronization of the data of the unmanned aerial vehicle and the data of the control terminal in time.
Optionally, the first time information is time information recorded when the unmanned aerial vehicle acquires the data, where the first time information may indicate a time when the unmanned aerial vehicle acquires the data, and the time is based on a time of the satellite.
Optionally, the second time information is time information obtained when the control terminal receives the data, and the second time information may indicate a time when the control terminal receives the data, where the time is based on a time of the satellite.
It should be noted that, the unmanned aerial vehicle may acquire time information from the satellite through the clock synchronization module in real time, and therefore, the unmanned aerial vehicle may record time information when acquiring data in real time, and the unmanned aerial vehicle takes the time information recorded when acquiring data as the first time information. Or the unmanned aerial vehicle acquires time information from the satellite through the clock synchronization module when acquiring data, and takes the time information as first time information.
The control terminal can acquire time information from the satellite through the clock synchronization module in real time, so that the unmanned aerial vehicle can record the time information when receiving data in real time, and the control terminal takes the time information recorded when receiving data as second time information. Or, the control terminal acquires the time information from the satellite through the clock synchronization module when receiving the data, and takes the time information as the second time information.
In this embodiment, the unmanned aerial vehicle acquires first time information from a satellite through the clock synchronization module, and sends data and the first time information to the control terminal, and when the control terminal receives the data and the first time information, the control terminal acquires second time information from the satellite through the clock synchronization module, and then synchronizes the data according to the first time information and the second time information. Unmanned aerial vehicle and control terminal all use the time of satellite as synchronous benchmark in this embodiment, and the synchronization between unmanned aerial vehicle and the control terminal does not have the relation of interdependence, need not carry out the synchronization information interaction between the two, and control terminal can accomplish the synchronization according to the first time information of receipt and the second time information that obtains, and synchronous precision is high.
Optionally, one possible implementation manner of the foregoing S204 may include S2041-S2042.
S2041, the control terminal determines a time difference between the control terminal and the unmanned aerial vehicle according to the first time information and the second time information.
And S2042, the control terminal synchronizes the data according to the time difference.
In this embodiment, the control terminal can determine the time for the unmanned aerial vehicle to acquire the data according to the first time information, and can determine the time for the control terminal to receive the data according to the second time information, so that the time difference between the control terminal and the unmanned aerial vehicle can be determined, and then the control terminal synchronizes the data according to the time difference, so that the time of the data in the control terminal is consistent with that in the unmanned aerial vehicle.
Optionally, one possible implementation manner of the S2041 includes: the control terminal acquires a clock signal of the first time information according to the first time information; acquiring a clock signal of the second time information according to the second time information; and obtaining a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information.
In this embodiment, a time difference between the unmanned aerial vehicles at the control terminal is represented by a difference clock signal, and after the control terminal receives the first time information, the control terminal can obtain a clock signal of the first time information, and after the control terminal obtains the second time information, the control terminal can obtain a clock signal of the second time information. And then comparing the clock signal of the first time information with the clock signal of the second time information to obtain a difference clock signal, wherein the difference clock signal is used for representing the time difference between the control terminal and the unmanned aerial vehicle.
Accordingly, optionally, one possible implementation manner of the above S2042 includes: and the control terminal synchronizes the data according to the difference clock signal. The time difference of this embodiment is represented by a difference clock signal, and synchronization can be performed when determining the difference clock signal between the unmanned aerial vehicle and the control terminal. One of the ways is: adjusting a frequency and/or phase of the data to time synchronize with the drone according to a difference clock signal. In this embodiment, after the control terminal obtains the difference time signal between the control terminal and the unmanned aerial vehicle, the control terminal adjusts the frequency and/or the phase of the received data according to the difference clock signal, so that the adjusted data and the data are synchronized in the unmanned aerial vehicle.
Alternatively, in a possible implementation, the data and the first time information may be transmitted by the same signal. One possible implementation manner for the unmanned aerial vehicle to send data and the first time information to the control terminal includes: the unmanned aerial vehicle generates a downlink signal according to the data and the first time information; and the unmanned aerial vehicle sends the downlink signal to the control terminal. Correspondingly, the control terminal receives the data and the first time information sent by the unmanned aerial vehicle, and the method comprises the following steps: the control terminal receives downlink signals sent by the unmanned aerial vehicle; and the control terminal analyzes the downlink signal to obtain the data and the first time information. Therefore, the first time information in the same signal can indicate the time for the unmanned aerial vehicle to send the data in the same signal, so that the control terminal can accurately determine the first time information corresponding to the received data, and the synchronization precision is improved.
Optionally, the clock synchronization module includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
In addition, an embodiment of the present invention further provides a computer storage medium, where program instructions are stored in the computer storage medium, and when the program is executed, the program may include some or all of the steps executed by the drone in the synchronization method in fig. 2 and its corresponding embodiment.
The embodiment of the present invention further provides a computer storage medium, where the computer storage medium stores program instructions, and when executing the program, the program may include some or all of the steps executed by the control terminal in the synchronization method in fig. 2 and its corresponding embodiment.
Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 3, an unmanned aerial vehicle 300 according to this embodiment includes: a clock synchronization module 301 and a transmitter 302. The clock synchronization module 301 and the transmitter 302 may be communicatively connected via a bus.
A clock synchronization module 301, configured to obtain first time information from a satellite.
A transmitter 302, configured to transmit data and the first time information to a control terminal of the drone, where the first time information is used to synchronize the data.
Optionally, the first time information is time information recorded when the unmanned aerial vehicle acquires the data.
Optionally, the transmitter 302 is further configured to: generating a downlink signal according to the data and the first time information; and sending the downlink signal to the control terminal.
Optionally, the clock synchronization module 301 includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
Optionally, the drone of this embodiment may further include a memory, not shown in the figure. The memory may include read only memory and random access memory. The portion of memory may also include non-volatile random access memory. The memory is used to store program instructions for performing the synchronization method for the clock synchronization module 301 and the transmitter 302 to perform the above-described scheme.
Optionally, a structure of the clock synchronization module 301 of this embodiment is shown in fig. 4, where the clock synchronization module 301 of this embodiment includes: the system comprises a time service module and a local synchronization module. And the time service module is used for receiving the clock information from the satellite and outputting the clock information to the local synchronization module. And the local synchronization module is used for receiving the clock information output by the time service module and outputting first time information according to the clock information. The local synchronization module may include, for example: phase discriminator, OCXO crystal oscillator, ADC for controlling the voltage input of the OXCO crystal oscillator, etc. In some embodiments, the first time information is high precision time information. Wherein, the authorization module is, for example: at least one of a GPS time service module, a Beidou time service module, a Galileo time service module or a Glonass time service module.
The unmanned aerial vehicle of the embodiment can be used for executing the technical scheme of the unmanned aerial vehicle in the above method embodiments of the present invention, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 5 is a schematic structural diagram of a control terminal according to an embodiment of the present invention, and as shown in fig. 5, the control terminal 400 according to this embodiment includes: a receiver 401, a clock synchronization module 402 and a processor 403. The receiver 401, the clock synchronization module 402 and the processor 403 may be communicatively connected by a bus.
The Processor 403 may be a Central Processing Unit (CPU), and may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The receiver 401 is configured to receive data and first time information sent by the drone.
A clock synchronization module 402 for obtaining second time information from the satellite.
A processor 403, configured to synchronize the data according to the first time information and the second time information.
Optionally, the first time information is time information recorded when the unmanned aerial vehicle acquires the data; and/or the second time information is the time information acquired when the control terminal receives the data.
Optionally, the processor 403 is further configured to: determining a time difference between the control terminal and the unmanned aerial vehicle according to the first time information and the second time information; and synchronizing the data according to the time difference.
Optionally, the processor 403 is further configured to: acquiring a clock signal of the first time information according to the first time information; acquiring a clock signal of the second time information according to the second time information; obtaining a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information; and synchronizing the data according to the difference clock signal.
Optionally, the processor 403 is further configured to: adjusting the frequency and/or phase of the data according to the difference clock signal to perform time synchronization with the drone.
Optionally, the receiver 401 is further configured to: receiving a downlink signal sent by the unmanned aerial vehicle; and analyzing the downlink signal to obtain the data and the first time information.
Optionally, the clock synchronization module 402 includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
Optionally, the control terminal of this embodiment may further include a memory, not shown in the figure. The memory may include read only memory and random access memory. The portion of memory may also include non-volatile random access memory. The memory is used to store program instructions for performing the synchronization method for the receiver 401, the clock synchronization module 402 and the processor 403 to perform the above-described scheme.
Optionally, a structure of the clock synchronization module 402 of this embodiment is shown in fig. 6, where the clock synchronization module 402 of this embodiment includes: the system comprises a time service module and a local synchronization module. And the time service module is used for receiving the clock information from the satellite and outputting the clock information to the local synchronization module. And the local synchronization module is used for receiving the clock information output by the time service module and outputting second time information according to the clock information. The local synchronization module may include, for example: phase discriminator, OCXO crystal oscillator, ADC for controlling the voltage input of the OXCO crystal oscillator, etc. In some embodiments, the second time information is high precision time information. Wherein, the authorization module is, for example: at least one of a GPS time service module, a Beidou time service module, a Galileo time service module or a Glonass time service module.
The control terminal of this embodiment may be configured to execute the technical solution of the control terminal in each of the method embodiments of the present invention, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 7 is a schematic structural diagram of a synchronization system according to an embodiment of the present invention, and as shown in fig. 7, the synchronization system 1000 according to the embodiment includes: unmanned aerial vehicle 300 and control terminal 400.
The unmanned aerial vehicle 300 is configured to obtain first time information from a satellite through a clock synchronization module; and transmitting data and the first time information to the control terminal 400, the first time information being used to synchronize the data.
The control terminal 400 is configured to receive data and first time information sent by the unmanned aerial vehicle 300; acquiring second time information from the satellite through a clock synchronization module; and synchronizing the data according to the first time information and the second time information.
Optionally, the first time information is time information recorded when the unmanned aerial vehicle 300 acquires the data; and/or the second time information is time information obtained when the control terminal 400 receives the data.
Optionally, the control terminal 400 is further configured to: determining a time difference between the control terminal 400 and the drone 300 according to the first time information and the second time information; and synchronizing the data according to the time difference.
Optionally, the control terminal 400 is further configured to: acquiring a clock signal of the first time information according to the first time information; acquiring a clock signal of the second time information according to the second time information; obtaining a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information; and synchronizing the data according to the difference clock signal.
Optionally, the control terminal 400 is further configured to: adjusting the frequency and/or phase of the data according to the difference clock signal to time synchronize with the drone 300.
Optionally, the drone 300 is further configured to: generating a downlink signal according to the data and the first time information; and transmitting the downlink signal to the control terminal 400;
the control terminal 400 is further configured to: receiving a downlink signal sent by the unmanned aerial vehicle 300; and analyzing the downlink signal to obtain the data and the first time information.
Optionally, the clock synchronization module of the unmanned aerial vehicle 300 includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
Optionally, the clock synchronization module of the control terminal 400 includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
The unmanned aerial vehicle 300 may adopt the structure of the apparatus embodiment shown in fig. 3, and the control terminal 400 may adopt the structure of the apparatus embodiment shown in fig. 5.
The system of this embodiment may implement the technical solutions of the above method embodiments of the present invention, and the implementation principles and technical effects are similar, which are not described herein again.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (24)
1. A method of synchronization, comprising:
the unmanned aerial vehicle acquires first time information from a satellite through a clock synchronization module; and
the unmanned aerial vehicle sends data and the first time information to a control terminal, wherein the first time information is used for synchronizing the data;
the first time information is recorded when the unmanned aerial vehicle acquires the data; the first time information is referenced to a time of the satellite.
2. The method of claim 1, wherein the sending, by the drone, data and the first time information to the control terminal comprises:
the unmanned aerial vehicle generates a downlink signal according to the data and the first time information;
and the unmanned aerial vehicle sends the downlink signal to the control terminal.
3. The method of any one of claims 1-2, wherein the clock synchronization module comprises at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
4. A method of synchronization, comprising:
the control terminal receives data and first time information sent by the unmanned aerial vehicle; the first time information is based on the time of the satellite;
the control terminal acquires second time information from the satellite through the clock synchronization module;
the control terminal synchronizes the data according to the first time information and the second time information;
the first time information is recorded when the unmanned aerial vehicle acquires the data; the second time information is the time information acquired when the control terminal receives the data.
5. The method of claim 4, wherein the controlling terminal synchronizes the data according to the first time information and the second time information, comprising:
the control terminal determines a time difference between the control terminal and the unmanned aerial vehicle according to the first time information and the second time information;
and the control terminal synchronizes the data according to the time difference.
6. The method of claim 5, wherein the control terminal determining a time difference between the control terminal and the drone according to the first time information and the second time information comprises:
the control terminal acquires a clock signal of the first time information according to the first time information;
the control terminal acquires a clock signal of the second time information according to the second time information;
the control terminal obtains a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information;
the control terminal synchronizes the data according to the time difference, and the method comprises the following steps:
and the control terminal synchronizes the data according to the difference clock signal.
7. The method of claim 6, wherein the control terminal synchronizing the data according to the difference clock signal comprises:
and the control terminal adjusts the frequency and/or the phase of the data according to the difference clock signal so as to perform time synchronization with the unmanned aerial vehicle.
8. The method according to any one of claims 4 to 7, wherein the control terminal receives the data and the first time information sent by the drone, and comprises:
the control terminal receives a downlink signal sent by the unmanned aerial vehicle;
and the control terminal analyzes the downlink signal to obtain the data and the first time information.
9. The method of any one of claims 4-7, wherein the clock synchronization module comprises at least one of a GPS time service module, a Beidou time service module, a Galileo time service module, and a Glonass time service module.
10. An unmanned aerial vehicle, comprising:
the clock synchronization module is used for acquiring first time information from a satellite; and
a transmitter, configured to transmit data and the first time information to a control terminal of the drone, where the first time information is used to synchronize the data; the first time information is recorded when the unmanned aerial vehicle acquires the data; the first time information is referenced to a time of the satellite.
11. The drone of claim 10, wherein the transmitter is further to:
generating a downlink signal according to the data and the first time information; and
and sending the downlink signal to the control terminal.
12. The drone of any one of claims 10-11, wherein the clock synchronization module includes at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
13. A control terminal, comprising:
the receiver is used for receiving data and first time information sent by the unmanned aerial vehicle; the first time information is based on the time of the satellite;
the clock synchronization module is used for acquiring second time information from the satellite; and
a processor for synchronizing the data according to the first time information and the second time information; the first time information is recorded when the unmanned aerial vehicle acquires the data; the second time information is the time information acquired when the control terminal receives the data.
14. The control terminal of claim 13, wherein the processor is further configured to:
determining a time difference between the control terminal and the unmanned aerial vehicle according to the first time information and the second time information; and
and synchronizing the data according to the time difference.
15. The control terminal of claim 14, wherein the processor is further configured to:
acquiring a clock signal of the first time information according to the first time information;
acquiring a clock signal of the second time information according to the second time information;
obtaining a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information; and
and synchronizing the data according to the difference clock signal.
16. The control terminal of claim 15, wherein the processor is further configured to: adjusting the frequency and/or phase of the data according to the difference clock signal to perform time synchronization with the drone.
17. The control terminal according to any of claims 13-16, wherein the receiver is further configured to:
receiving a downlink signal sent by the unmanned aerial vehicle; and
and analyzing the downlink signal to obtain the data and the first time information.
18. The control terminal of any one of claims 13-16, wherein the clock synchronization module comprises at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
19. A synchronization system, comprising: an unmanned aerial vehicle and a control terminal;
the unmanned aerial vehicle is used for acquiring first time information from a satellite through a clock synchronization module; sending data and the first time information to a control terminal, wherein the first time information is used for synchronizing the data;
the control terminal is used for receiving data and first time information sent by the unmanned aerial vehicle; acquiring second time information from the satellite through a clock synchronization module; and synchronizing the data according to the first time information and the second time information; the first time information is recorded when the unmanned aerial vehicle acquires the data; the first time information is based on the time of the satellite; the second time information is the time information acquired when the control terminal receives the data.
20. The system of claim 19, wherein the control terminal is further configured to: determining a time difference between the control terminal and the unmanned aerial vehicle according to the first time information and the second time information; and synchronizing the data according to the time difference.
21. The system of claim 20, wherein the control terminal is further configured to: acquiring a clock signal of the first time information according to the first time information; acquiring a clock signal of the second time information according to the second time information; obtaining a difference clock signal according to the clock signal of the first time information and the clock signal of the second time information; and synchronizing the data according to the difference clock signal.
22. The system of claim 21, wherein the control terminal is further configured to: adjusting the frequency and/or phase of the data according to the difference clock signal to perform time synchronization with the drone.
23. The system of any of claims 19-22, wherein the drone is further configured to: generating a downlink signal according to the data and the first time information; and sending the downlink signal to the control terminal;
the control terminal is further configured to: receiving a downlink signal sent by the unmanned aerial vehicle; and analyzing the downlink signal to obtain the data and the first time information.
24. The system of any one of claims 19-22, wherein the clock synchronization module comprises at least one of a GPS time service module, a beidou time service module, a galileo time service module, or a glonass time service module.
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| WO2020133105A1 (en) * | 2018-12-27 | 2020-07-02 | 深圳市大疆创新科技有限公司 | Timing method, switching method, apparatus, control system, and unmanned aerial vehicle |
| CN112154679A (en) * | 2019-07-19 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Communication interference suppression method, apparatus, and computer-readable storage medium |
| CN110505001B (en) * | 2019-07-30 | 2020-11-06 | 北京大学 | Bypass network guiding method based on satellite load platform |
| CN110932812B (en) * | 2019-11-13 | 2021-10-01 | 深圳供电局有限公司 | Task sending method, task receiving method and system based on time synchronization |
| WO2021237733A1 (en) * | 2020-05-29 | 2021-12-02 | 深圳市大疆创新科技有限公司 | Synchronization method, movable platform, control terminal and synchronization system |
| CN113093516B (en) * | 2021-04-07 | 2022-09-27 | 深圳市道通智能航空技术股份有限公司 | Time calibration method, device, equipment and storage medium for unmanned aerial vehicle battery |
| CN114554250B (en) * | 2022-01-17 | 2023-06-27 | 北京理工大学重庆创新中心 | Video and position synchronization method of unmanned aerial vehicle or unmanned aerial vehicle |
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| TW200901729A (en) * | 2007-06-20 | 2009-01-01 | Tsui-Yun Jen | Handheld intelligent mobile and fixed wireless device |
| CN101453316B (en) * | 2007-11-30 | 2011-04-13 | 华为技术有限公司 | Time information synchronization system, method and related apparatus |
| CN101783725B (en) * | 2009-01-20 | 2014-06-25 | 华为技术有限公司 | Method for outputting synchronous time, device and system thereof |
| CN101902292B (en) * | 2009-12-30 | 2013-07-10 | 大唐电信（成都）信息技术有限公司 | UTC high-precision time synchronization method based on optical transmission network |
| CN102130735A (en) * | 2010-11-09 | 2011-07-20 | 华为技术有限公司 | Transmission equipment and method thereof for realizing synchronization of clock and time |
| CN103686216A (en) * | 2013-10-30 | 2014-03-26 | 陕西高新实业有限公司 | Medium wave synchronization broadcast system |
| CN104243132B (en) * | 2014-10-08 | 2018-03-23 | 深圳市大疆创新科技有限公司 | A kind of method of data synchronization and relevant device |
| CN104349163B (en) * | 2014-11-26 | 2016-06-08 | 电子科技大学 | End-to-end video transmission delay measurements display device and the system of measurement |
| CN106413075B (en) * | 2015-08-03 | 2020-04-28 | 中兴通讯股份有限公司 | Method and system for clock synchronization and end station |
| WO2018094747A1 (en) * | 2016-11-28 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Control method, remote control and drone |
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