CN114390666A - Communication module time synchronization method, device and computer readable storage medium - Google Patents
Communication module time synchronization method, device and computer readable storage medium Download PDFInfo
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- H—ELECTRICITY
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- H04W56/003—Arrangements to increase tolerance to errors in transmission or reception timing
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- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
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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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- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
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- H—ELECTRICITY
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a communication module time synchronization method, a device and a computer readable storage medium, wherein the method comprises the following steps: using one of the communication modules as a master clock and the other communication modules as slave clocks which are connected with the master clock maintaining network; acquiring network delay time between each group of master and slave clocks through time deviation measurement and delay measurement between each group of master and slave clocks; carrying out weighted average on the network delay time between the master clock and the slave clock of all the groups to obtain normalized network delay time; and time compensation and calibration are carried out on the synchronous time of each slave clock through the normalized network delay time. The time synchronization when multiple wireless communication modules are networked is realized, and the requirement of an application scene of the Internet of things with higher time precision requirement is met.
Description
Technical Field
The present invention relates to the field of mobile communications, and in particular, to a method and apparatus for time synchronization of a communication module, and a computer-readable storage medium.
Background
In the prior art, NTP (network time protocol) time of a communication module is obtained from an NTP server through a network application protocol, but the following network transmission delay inevitably exists due to mobile communication: and (3) sending time delay: the time for the nodes to construct synchronous messages and deliver the messages to the MAC layer; channel access delay: the time for the synchronous message to start sending the message from the detection of whether the channel is idle to the physical layer is long, the channel access delay randomness is large, and the influence of the current channel idle degree and the network load condition is large; transmission delay: the time used by the sending node to transmit the synchronous message outwards through the antenna; propagation delay: the time taken for a node to travel from a sending node to a receiving node in the medium; receiving time delay: the time used by the physical layer of the receiving node to receive the synchronous message through the antenna; processing time delay: and the time for processing the message by the receiving node.
In summary, in view of the fact that the accuracy of the transmission delay of the existing multi-radio communication module during networking is only tens of milliseconds to one second, which cannot meet the requirement of high-accuracy time synchronization in the application field of the internet of things, a technical solution capable of correcting the transmission delay of the multi-radio communication module during networking and improving the transmission accuracy is urgently needed.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides a communication module time synchronization method, which comprises the following steps:
one of the communication modules is used as a master clock, and the other communication modules are used as slave clocks connected with the master clock maintaining network.
And acquiring the network delay time between the master clock and the slave clock of each group through the time deviation measurement and the delay measurement between the master clock and the slave clock of each group.
And carrying out weighted average on the network delay time between the master clock and the slave clock of all the groups to obtain normalized network delay time.
And time compensation and calibration are carried out on the synchronous time of each slave clock through the normalized network delay time.
Optionally, the using one of the communication modules as a master clock and the other communication modules as slave clocks connected to the master clock holding network includes:
and determining all the communication modules connected with the time synchronization server.
When the compensation and calibration requirements of the synchronous time are generated, one communication module is selected from all the communication modules to be used as a master clock, other communication modules are used as slave clocks, and network connection between the master clock and the slave clocks of each group is established.
Optionally, the obtaining of the network delay time between each group of master and slave clocks by time offset measurement and delay measurement between each group of master and slave clocks includes:
and calculating the deviation value of the slave clock and the master clock between each group of master and slave clocks, and performing time correction on the slave clock through the deviation value so as to keep each group of master and slave clocks synchronous.
And acquiring the network delay time between the master clock and the slave clock of each group through delay measurement and the deviation value at the time of each group of master clock and slave clock.
Optionally, the performing a weighted average on the network delay times between the master clocks and the slave clocks of all the groups to obtain a normalized network delay time includes:
obtaining the network delay time T between each group of master and slave clocksdelay[k]And k is the group number of the master clock and the slave clock.
By passing
Performing a weighted average of the network delay times between master and slave clocks of all groups, wherein,
the normalized network delay time.
Optionally, the time compensating and calibrating the synchronization time of each slave clock by the normalized network delay time includes:
recording the synchronization time acquired from the kth slave clock to the time synchronization server as Tk-ntp。
According to
Time compensating and calibrating the synchronization time of each of the slave clocks, wherein TkAnd obtaining the calibrated synchronization time from the kth slave clock to the time synchronization server.
The invention also provides a communication module time synchronization device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the computer program realizes that:
one of the communication modules is used as a master clock, and the other communication modules are used as slave clocks connected with the master clock maintaining network.
And acquiring the network delay time between the master clock and the slave clock of each group through the time deviation measurement and the delay measurement between the master clock and the slave clock of each group.
And carrying out weighted average on the network delay time between the master clock and the slave clock of all the groups to obtain normalized network delay time.
And time compensation and calibration are carried out on the synchronous time of each slave clock through the normalized network delay time.
Optionally, the computer program when executed by the processor implements:
and determining all the communication modules connected with the time synchronization server.
When the compensation and calibration requirements of the synchronous time are generated, one communication module is selected from all the communication modules to be used as a master clock, other communication modules are used as slave clocks, and network connection between the master clock and the slave clocks of each group is established.
Optionally, the computer program when executed by the processor implements:
and calculating the deviation value of the slave clock and the master clock between each group of master and slave clocks, and performing time correction on the slave clock through the deviation value so as to keep each group of master and slave clocks synchronous.
And acquiring the network delay time between the master clock and the slave clock of each group through delay measurement and the deviation value at the time of each group of master clock and slave clock.
Optionally, the computer program when executed by the processor implements:
obtaining the network delay time T between each group of master and slave clocksdelay[k]And k is the group number of the master clock and the slave clock.
By passing
Performing a weighted average of the network delay times between master and slave clocks of all groups, wherein,
delaying the normalized network delay time;
recording the synchronization time acquired from the kth slave clock to the time synchronization server as Tk-ntp。
According to
Time compensating and calibrating the synchronization time of each of the slave clocks, wherein TkAnd obtaining the calibrated synchronization time from the kth slave clock to the time synchronization server.
The present invention further provides a computer-readable storage medium having a communication module time synchronization program stored thereon, where the communication module time synchronization program, when executed by a processor, implements the steps of the communication module time synchronization method as described in any of the above.
The communication module time synchronization method, the equipment and the computer readable storage medium implement the invention, one of a plurality of communication modules is used as a master clock, and other communication modules are used as slave clocks which are connected with the master clock maintaining network; acquiring network delay time between each group of master and slave clocks through time deviation measurement and delay measurement between each group of master and slave clocks; carrying out weighted average on the network delay time between the master clock and the slave clock of all the groups to obtain normalized network delay time; and time compensation and calibration are carried out on the synchronous time of each slave clock through the normalized network delay time. The time synchronization when multiple wireless communication modules are networked is realized, and the requirement of an application scene of the Internet of things with higher time precision requirement is met.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a first embodiment of a method for time synchronization of communication modules according to the present invention;
FIG. 2 is a connection diagram of a second embodiment of the time synchronization method for communication modules according to the present invention;
fig. 3 is a measurement diagram illustrating a communication module time synchronization method according to a second embodiment of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Example one
Fig. 1 is a flowchart of a communication module time synchronization method according to a first embodiment of the present invention. A method for time synchronization of communication modules, the method comprising:
and S1, taking one of the communication modules as a master clock, and taking other communication modules as slave clocks connected with the master clock holding network.
And S2, acquiring the network delay time between each group of master and slave clocks through the time deviation measurement and the delay measurement between each group of master and slave clocks.
And S3, carrying out weighted average on the network delay time between the master clock and the slave clock of all the groups to obtain normalized network delay time.
And S4, performing time compensation and calibration on the synchronous time of each slave clock through the normalized network delay time.
In this embodiment, first, the NTP time acquired by one communication module is selected as a master clock, and the NTP times acquired by other communication modules are selected as slave clocks; then, deviation measurement and delay measurement are carried out by adopting an IEEE1588v2 protocol, and network transmission delay time between each master clock group and each slave clock group is obtained; and finally, carrying out weighted average on the network delay time of each master clock group and each slave clock group to obtain the normalized network delay time.
In the embodiment, the time synchronization algorithm of the single step mode in IEEE1588v2 can be divided into two stages of deviation measurement and delay measurement. Based on the above, one set of master and slave clocks is selected for description.
First, in the first stage, a time offset T is performedoffsetAnd (6) measuring. Specifically, the slave clock obtains T by calculating the deviation value between the slave clock and the master clock to correct the time of the slave clockstartAnd TendCalculating the deviation value of the master clock and the slave clock by using the following formula after two timestamps:
Toffset＝Tend-Tstart-Tdelay。
calculating T from a clockoffsetAfter the value, subtract T from the current timeoffsetSynchronizing itself to the master clock.
Then, in a second phase, a delay measurement is performed. Specifically, the delay time of the message in the network transmission is measured, including that the slave clock is at TreqSending Delay _ Req message to a master clock in time, wherein the master clock is at TrespAfter receiving the message, and sending TrespPut into a Delay _ Resp message and send back to the slave clock. When the Delay _ Resp message is received from the clock, the following calculation formula can be obtained
Tresp-Treq＝Tdelay-Toffset。
The network transmission delay is calculated by the two calculation formulas:
then, obtaining the network delay time T of each group of master and slave clocksdelay[k]Then, carrying out weighted average by the following formula to obtain the normalized network delay time
Wherein, the weight is determined according to the number k (k is more than 1) of the actual master clock group and the actual slave clock group.
Finally, in the third stage, aiming at the NTP time of each wireless communication module, the fusion normalization network delay time can be combined through the following formula
Obtaining:
therefore, time synchronization during networking of multiple wireless communication modules is achieved, and the requirement of the Internet of things application scene with high time precision requirement is met.
It can be seen that, in this embodiment, based on the IEEE1588v2(PTP) precision time protocol, a wireless communication module time synchronization scheme is proposed, specifically, an NTP time acquired by one communication module is selected as a master clock, NTP times acquired by other communication modules are selected as slave clocks, the IEEE1588v2 protocol is used to perform deviation measurement and delay measurement, delay time between the master clock and the slave clocks is acquired, and time synchronization between the communication modules is further implemented. According to the embodiment, the NTP time service precision of the wireless communication module can be effectively improved, time synchronization during networking of multiple wireless communication modules is realized, and the method can be applied to an application scene of the Internet of things with high requirements on time precision.
Example two
Based on the above-mentioned embodiment, referring to the connection diagram shown in fig. 2, the taking one of the communication modules as a master clock and the other communication modules as slave clocks that maintain network connection with the master clock includes:
and determining all the communication modules connected with the time synchronization server.
When the compensation and calibration requirements of the synchronous time are generated, one communication module is selected from all the communication modules to be used as a master clock, other communication modules are used as slave clocks, and network connection between the master clock and the slave clocks of each group is established.
In this embodiment, the master and slave clocks may be established through networking via network protocols, including but not limited to a TCP protocol server-client form, and an LWM2M protocol form, and the purpose of networking the master and slave clocks is to connect the master clock device with the slave clock device.
In this embodiment, the number of slave clock groups is k, and k >1 is required; optionally, if the k value is larger, the number of finally acquired samples is larger, and the finally calculated normalized network delay time is more accurate.
In this embodiment, the obtaining the network delay time between each set of master and slave clocks by time offset measurement and delay measurement between each set of master and slave clocks includes:
and calculating the deviation value of the slave clock and the master clock between each group of master and slave clocks, and performing time correction on the slave clock through the deviation value so as to keep each group of master and slave clocks synchronous.
And acquiring the network delay time between the master clock and the slave clock of each group through delay measurement and the deviation value at the time of each group of master clock and slave clock.
In the present embodiment, T is considereddelay[k]The network delay time of each master clock group and each slave clock group can be determined by the network delay when the NTP time is acquired, the acquired NTP time is acquired through a TCP protocol and can be calculated through a timestamp in a network message; due to the firing of each deviceThe frequency parameters, the network environment and other factors have certain differences. Therefore, there is a certain error, and therefore, it is necessary to subtract the time offset Toffset of the master and slave clocks.
In this embodiment, referring to the measurement schematic diagram shown in fig. 3, the performing a weighted average on the network delay times between the master clocks and the slave clocks of all the groups to obtain a normalized network delay time includes:
obtaining the network delay time T between each group of master and slave clocksdelay[k]And k is the group number of the master clock and the slave clock.
By passing
Performing a weighted average of the network delay times between master and slave clocks of all groups, wherein,
the normalized network delay time.
In this embodiment, the master clock is unique, e.g., may be denoted as P, and there are k slave clocks, e.g., may be denoted as S1, S2.. ska.. then P-S1, P-S2.. a.p-ska.. may be grouped into a distributed set of master and slave clocks; the weight of each group is the reciprocal of the k value.
In this embodiment, because of uncertainty and unpredictability of network delay, the network delay time in the same networking domain is weighted and averaged by collecting k sets of master and slave devices to obtain a normalized network delay time, so that NTP time finally obtained by k slave devices can be further refined.
In this embodiment, the time compensating and calibrating the synchronization time of each slave clock by the normalized network delay time includes:
recording the synchronization time acquired from the kth slave clock to the time synchronization server as Tk-ntp。
According to
Time compensating and calibrating the synchronization time of each of the slave clocks, wherein TkAnd obtaining the calibrated synchronization time from the kth slave clock to the time synchronization server.
In this embodiment, a 1-K distributed mode is adopted, 1 master clock device and K slave clock devices are set, and on the premise that the master clocks are consistent, time deviation and network delay are calculated with the K slave clocks, and finally the clocks are synchronized to K, so that the reliability and accuracy are higher.
In this embodiment, the master clock and the k slave clocks all obtain the same time from the NTP server as the start time, and then the IEEE1588v2(PTP) precision time protocol is used to measure the time deviation and the network delay between the master clock and the slave clock, so as to perform time compensation and calibration on the k slave clock devices, and finally achieve the purpose of time synchronization of the k devices.
EXAMPLE III
The invention also provides a communication module time synchronization device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the computer program realizes that:
one of the communication modules is used as a master clock, and the other communication modules are used as slave clocks connected with the master clock maintaining network.
And acquiring the network delay time between the master clock and the slave clock of each group through the time deviation measurement and the delay measurement between the master clock and the slave clock of each group.
And carrying out weighted average on the network delay time between the master clock and the slave clock of all the groups to obtain normalized network delay time.
And time compensation and calibration are carried out on the synchronous time of each slave clock through the normalized network delay time.
In this embodiment, first, the NTP time acquired by one communication module is selected as a master clock, and the NTP times acquired by other communication modules are selected as slave clocks; then, deviation measurement and delay measurement are carried out by adopting an IEEE1588v2 protocol, and network transmission delay time between each master clock group and each slave clock group is obtained; and finally, carrying out weighted average on the network delay time of each master clock group and each slave clock group to obtain the normalized network delay time.
In the embodiment, the time synchronization algorithm of the single step mode in IEEE1588v2 can be divided into two stages of deviation measurement and delay measurement. Based on the above, one set of master and slave clocks is selected for description.
First, in the first stage, a time offset T is performedoffsetAnd (6) measuring. Specifically, the slave clock obtains T by calculating the deviation value between the slave clock and the master clock to correct the time of the slave clockstartAnd TendCalculating the deviation value of the master clock and the slave clock by using the following formula after two timestamps:
Toffset＝Tend-Tstart-Tdelay。
calculating T from a clockoffsetAfter the value, subtract T from the current timeoffsetSynchronizing itself to the master clock.
Then, in a second phase, a delay measurement is performed. Specifically, the delay time of the message in the network transmission is measured, including that the slave clock is at TreqSending Delay _ Req message to a master clock in time, wherein the master clock is at TrespAfter receiving the message, and sending TrespPut into a Delay _ Resp message and send back to the slave clock. When the Delay _ Resp message is received from the clock, the following calculation formula can be obtained
Tresp-Treq＝Tdelay-Toffset。
The network transmission delay is calculated by the two calculation formulas:
Tdelay＝[(Tend-Tstart)-(Tresp-Treq)]/2。
then, obtaining the network delay time T of each group of master and slave clocksdelay[k]Then, carrying out weighted average by the following formula to obtain the normalized network delay time
Wherein, the weight is determined according to the number k (k is more than 1) of the actual master clock group and the actual slave clock group.
Finally, in the third stage, aiming at the NTP time of each wireless communication module, the fusion normalization network delay time can be combined through the following formula
Obtaining:
therefore, time synchronization during networking of multiple wireless communication modules is achieved, and the requirement of the Internet of things application scene with high time precision requirement is met.
It can be seen that, in this embodiment, based on the IEEE1588v2(PTP) precision time protocol, a wireless communication module time synchronization scheme is proposed, specifically, an NTP time acquired by one communication module is selected as a master clock, NTP times acquired by other communication modules are selected as slave clocks, the IEEE1588v2 protocol is used to perform deviation measurement and delay measurement, delay time between the master clock and the slave clocks is acquired, and time synchronization between the communication modules is further implemented. According to the embodiment, the NTP time service precision of the wireless communication module can be effectively improved, time synchronization during networking of multiple wireless communication modules is realized, and the method can be applied to an application scene of the Internet of things with high requirements on time precision.
Example four
Based on the above embodiments, the computer program when executed by the processor implements:
and determining all the communication modules connected with the time synchronization server.
When the compensation and calibration requirements of the synchronous time are generated, one communication module is selected from all the communication modules to be used as a master clock, other communication modules are used as slave clocks, and network connection between the master clock and the slave clocks of each group is established.
Optionally, the computer program when executed by the processor implements:
and calculating the deviation value of the slave clock and the master clock between each group of master and slave clocks, and performing time correction on the slave clock through the deviation value so as to keep each group of master and slave clocks synchronous.
And acquiring the network delay time between the master clock and the slave clock of each group through delay measurement and the deviation value at the time of each group of master clock and slave clock.
Optionally, the computer program when executed by the processor implements:
obtaining the network delay time T between each group of master and slave clocksdelay[k]And k is the group number of the master clock and the slave clock.
By passing
Performing a weighted average of the network delay times between master and slave clocks of all groups, wherein,
delaying the normalized network delay time;
recording the synchronization time acquired from the kth slave clock to the time synchronization server as Tk-ntp。
According to
Time compensating and calibrating the synchronization time of each of the slave clocks, wherein TkAnd obtaining the calibrated synchronization time from the kth slave clock to the time synchronization server.
Based on the above-mentioned embodiment, referring to the connection diagram shown in fig. 2, the taking one of the communication modules as a master clock and the other communication modules as slave clocks that maintain network connection with the master clock includes:
and determining all the communication modules connected with the time synchronization server.
When the compensation and calibration requirements of the synchronous time are generated, one communication module is selected from all the communication modules to be used as a master clock, other communication modules are used as slave clocks, and network connection between the master clock and the slave clocks of each group is established.
In this embodiment, the master and slave clocks may be established through networking via network protocols, including but not limited to a TCP protocol server-client form, and an LWM2M protocol form, and the purpose of networking the master and slave clocks is to connect the master clock device with the slave clock device.
In this embodiment, the number of slave clock groups is k, and k is required to be greater than 1; optionally, if the k value is larger, the number of finally acquired samples is larger, and the finally calculated normalized network delay time is more accurate.
In this embodiment, the obtaining the network delay time between each set of master and slave clocks by time offset measurement and delay measurement between each set of master and slave clocks includes:
and calculating the deviation value of the slave clock and the master clock between each group of master and slave clocks, and performing time correction on the slave clock through the deviation value so as to keep each group of master and slave clocks synchronous.
And acquiring the network delay time between the master clock and the slave clock of each group through delay measurement and the deviation value at the time of each group of master clock and slave clock.
In the present embodiment, T is considereddelay[k]The network delay time of each master clock group and each slave clock group can be determined by the network delay when the NTP time is acquired, the acquired NTP time is acquired through a TCP protocol and can be calculated through a timestamp in a network message; there is a certain difference due to factors such as the radio frequency parameters of each device, the network environment, etc. Therefore, there is a certain error, and therefore, it is necessary to subtract the time offset Toffset of the master and slave clocks.
In this embodiment, referring to the measurement schematic diagram shown in fig. 3, the performing a weighted average on the network delay times between the master clocks and the slave clocks of all the groups to obtain a normalized network delay time includes:
obtaining the network delay time T between each group of master and slave clocksdelay[k]And k is the group number of the master clock and the slave clock.
By passing
Performing a weighted average of the network delay times between master and slave clocks of all groups, wherein,
the normalized network delay time.
In this embodiment, the master clock is unique, e.g., may be denoted as P, and there are k slave clocks, e.g., may be denoted as S1, S2.. ska.. then P-S1, P-S2.. a.p-ska.. may be grouped into a distributed set of master and slave clocks; the weight of each group is the reciprocal of the k value.
In this embodiment, because of uncertainty and unpredictability of network delay, the network delay time in the same networking domain is weighted and averaged by collecting k sets of master and slave devices to obtain a normalized network delay time, so that NTP time finally obtained by k slave devices can be further refined.
In this embodiment, the time compensating and calibrating the synchronization time of each slave clock by the normalized network delay time includes:
recording the synchronization time acquired from the kth slave clock to the time synchronization server as Tk-ntp。
According to
Time compensating and calibrating the synchronization time of each of the slave clocks, wherein,Tkand obtaining the calibrated synchronization time from the kth slave clock to the time synchronization server.
In this embodiment, a 1-K distributed mode is adopted, 1 master clock device and K slave clock devices are set, and on the premise that the master clocks are consistent, time deviation and network delay are calculated with the K slave clocks, and finally the clocks are synchronized to K, so that the reliability and accuracy are higher.
In this embodiment, the master clock and the k slave clocks all obtain the same time from the NTP server as the start time, and then the IEEE1588v2(PTP) precision time protocol is used to measure the time deviation and the network delay between the master clock and the slave clock, so as to perform time compensation and calibration on the k slave clock devices, and finally achieve the purpose of time synchronization of the k devices.
EXAMPLE five
Based on the foregoing embodiments, the present invention further provides a computer-readable storage medium, in which a communication module time synchronization program is stored, and when the communication module time synchronization program is executed by a processor, the steps of the communication module time synchronization method according to any one of the foregoing embodiments are implemented.
It should be noted that the media embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the media embodiment, which is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method for time synchronization of communication modules, the method comprising:
using one of the communication modules as a master clock and the other communication modules as slave clocks which are connected with the master clock maintaining network;
acquiring network delay time between each group of master and slave clocks through time deviation measurement and delay measurement between each group of master and slave clocks;
carrying out weighted average on the network delay time between the master clock and the slave clock of all the groups to obtain normalized network delay time;
and time compensation and calibration are carried out on the synchronous time of each slave clock through the normalized network delay time.
2. The method for time synchronization of communication modules according to claim 1, wherein said using one of a plurality of communication modules as a master clock and the other communication modules as slave clocks that maintain network connection with the master clock comprises:
determining all the communication modules connected with the time synchronization server;
when the compensation and calibration requirements of the synchronous time are generated, one communication module is selected from all the communication modules to be used as a master clock, other communication modules are used as slave clocks, and network connection between the master clock and the slave clocks of each group is established.
3. The method for time synchronization of communication modules according to claim 2, wherein said obtaining the network delay time between each set of master and slave clocks by time offset measurement and delay measurement between each set of master and slave clocks comprises:
calculating a deviation value of the slave clock and the master clock between each group of master and slave clocks, and performing time correction on the slave clock through the deviation value so as to keep each group of master and slave clocks synchronous;
and acquiring the network delay time between the master clock and the slave clock of each group through delay measurement and the deviation value at the time of each group of master clock and slave clock.
4. The method according to claim 3, wherein the weighted averaging of the network delay times between the master and slave clocks of all groups to obtain a normalized network delay time comprises:
obtaining the network delay time T between each group of master and slave clocksdelay[k]Wherein k is the group number of the master clock and the slave clock;
by passing
Performing a weighted average of the network delay times between master and slave clocks of all groups, wherein,
the normalized network delay time.
5. The method for time synchronizing communication modules according to claim 4, wherein said time compensating and calibrating the synchronization time of each of said slave clocks by said normalized network delay time comprises:
recording the synchronization time acquired from the kth slave clock to the time synchronization server as Tk-ntp；
According to
Time compensating and calibrating the synchronization time of each of the slave clocks, wherein TkAnd obtaining the calibrated synchronization time from the kth slave clock to the time synchronization server.
6. A communication module time synchronization apparatus, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing:
using one of the communication modules as a master clock and the other communication modules as slave clocks which are connected with the master clock maintaining network;
acquiring network delay time between each group of master and slave clocks through time deviation measurement and delay measurement between each group of master and slave clocks;
carrying out weighted average on the network delay time between the master clock and the slave clock of all the groups to obtain normalized network delay time;
and time compensation and calibration are carried out on the synchronous time of each slave clock through the normalized network delay time.
7. The method for time synchronization of communication modules according to claim 6, wherein said computer program when executed by said processor implements:
determining all the communication modules connected with the time synchronization server;
when the compensation and calibration requirements of the synchronous time are generated, one communication module is selected from all the communication modules to be used as a master clock, other communication modules are used as slave clocks, and network connection between the master clock and the slave clocks of each group is established.
8. The method for time synchronization of communication modules according to claim 7, wherein said computer program when executed by said processor implements:
calculating a deviation value of the slave clock and the master clock between each group of master and slave clocks, and performing time correction on the slave clock through the deviation value so as to keep each group of master and slave clocks synchronous;
and acquiring the network delay time between the master clock and the slave clock of each group through delay measurement and the deviation value at the time of each group of master clock and slave clock.
9. The method for time synchronization of communication modules according to claim 8, wherein said computer program when executed by said processor implements:
obtaining the network delay time T between each group of master and slave clocksdelay[k]Wherein k is the group number of the master clock and the slave clock;
by passing
Performing a weighted average of the network delay times between master and slave clocks of all groups, wherein,
delaying the normalized network delay time;
synchronizing the kth slave clock to the time synchronization serverThe time is recorded as Tk-ntp；
According to
Time compensating and calibrating the synchronization time of each of the slave clocks, wherein TkAnd obtaining the calibrated synchronization time from the kth slave clock to the time synchronization server.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a communication module time synchronization program, which when executed by a processor implements the steps of the communication module time synchronization method according to any one of claims 1 to 5.
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