基于TDOA系统的高精度软时钟同步方法
High Precision Soft Clock Synchronization Method Based on TDOA System
摘要: 文章基于TDOA (Time Difference of Arrival，到达时间差)实时定位系统中的时钟同步问题，提出了一种交叉互验同步方法，在由Decawave公司提供的DW1000模块上实现TDOA定位系统的软时钟同步设计。考虑到模块的收发特性，同一时刻只能允许一条信号在空间中传输，该方法中包含主基站与从基站和用户标签的通讯协议，对模块之间的通讯时隙进行安排，解决了通讯信号互相干扰的问题。同时，该方法通过对模块间通讯过程进行建模分析，推导出时间戳、时钟频率漂移与时间轴偏差之间满足的线性方程组，将其最小二乘解代入TDOA定位算法，完成一次时钟同步与标签定位。文章提出的方法充分考虑TDOA实时定位系统的需求，具有时延低、实现简单、易于建模分析等优点。
Abstract: Based on the clock synchronization problem in TDOA (Time Difference of Arrival) real-time positioning system, a cross-recognition synchronization method is proposed. The soft clock synchronization design of TDOA positioning system is implemented on the DW1000 module provided by Decawave. Considering the transceiver characteristics of the module, only one signal can be transmitted in space at the same time. The method includes the communication protocol between the primary base station, the secondary base station and the user tag. The communication time slots between the modules are arranged to solve the problem of interference. At the same time, the method analyzes the communication process between modules to derive the linear equations that are satisfied between time stamp, clock frequency drift and time axis deviation. The least squares solution is substituted into the TDOA positioning algorithm to complete a clock synchronization and positioning with the user tag. The method proposed in the paper fully considers the requirements of TDOA real-time positioning system, and has the advantages of low delay, simple implementation and easy analysis.
文章引用：严格, 侯宏卫, 罗易凡, 房天昊, 王闻今, 吴驰. 基于TDOA系统的高精度软时钟同步方法[J]. 无线通信, 2019, 9(6): 185-198. https://doi.org/10.12677/HJWC.2019.96024

参考文献

[1] Bergen, M.H., Jin, X., Guerrero, D., Chaves, H.A.L.F., Fredeen, N.V. and Holzman, J.F. (2017) Design and Implementation of an Optical Receiver for Angle-of-Arrival-Based Positioning. Journal of Lightwave Technology, 35, 3877-3885.
[Google Scholar] [CrossRef] 
[2] Cui, W., Zhang, L., Li, B., Guo, J., Meng, W., Wang, H. and Xie, L. (2018) Received Signal Strength Based Indoor Positioning Using a Random Vector Functional Link Network. IEEE Transactions on Industrial Informatics, 14, 1846-1855.
[Google Scholar] [CrossRef] 
[3] Yuan, Y., Hou, S. and Zhao, Q. (2017) An Improved TDOA Localization Algorithm Based on Wavelet Transform. 2017 7th IEEE International Conference on Electronics Information and Emergency Communication (ICEIEC), Macau, 21-23 July 2017, 111-114.
[Google Scholar] [CrossRef] 
[4] Xu, A.Y.Z., Au, E.K.S., Wong, A.K.S. and Wang, Q. (2009) A Novel Threshold-Based Coherent TOA Estimation for IR-UWB Systems. IEEE Transactions on Vehicular Technology, 58, 4675-4681.
[Google Scholar] [CrossRef] 
[5] DecaWave (2014) Wired Synchronization of Anchor Nodes in A TDOA Real Time Location System.
[6] 刘克难. CTC时钟同步方案研究与设计[J]. 铁路通信信号工程技术, 2018(6): 39-43.
[7] Marechal, N., Pierrot, J.-B. and Gorce, J.-M. (2008) Fine Synchronization for Wireless Sensor Networks Using Gossip Averaging Algorithms. 2008 IEEE International Conference on Communications, Beijing, China, 19-23 May 2008, 4963-4967.
[8] Maróti, M., Kusy, B., Simon, G., et al. (2004) The Flooding Time Synchronization Protocol. Proceedings of the 2nd International Conference on Embedded Networked Sensor Systems, Baltimore, MD, 3-5 November 2004, 39-49.
[Google Scholar] [CrossRef] 
[9] Elson, J., Girod, L. and Estrin, D. (2002) Fine-Grained Network Time Synchronization Using Reference Broadcasts. ACM SIGOPS Operating Systems Review, 36, 147-163.
[Google Scholar] [CrossRef] 
[10] 陈辉. 基于TDOA的无线传感器网络时钟同步与定位技术研究[D]: [硕士学位论文]. 长沙: 国防科学技术大学, 2015.
[11] 罗勃, 沈重, 朱雨豪. 无线时钟同步算法在UWB定位技术中的研究与应用[J]. 现代电子技术, 2017, 40(6): 31-34+39.
[12] Liao, C. and Barooah, P. (2014) Accurate Distributed Time Synchronization in Mobile Wireless Sensor Networks from Noisy Difference Measurements. arXiv preprint arXiv:1412.7888.
[13] 蒋伊琳, 张芳园. 基于自然选择粒子群的时钟同步算法[J]. 西南交通大学学报, 2017, 52(3): 593-599.
[14] Qaraqe, K., Chaudhari, Q.M. and Serpedin, E. (2010) Some Improved and Generalized Estimation Schemes for Clock Synchronization of Listening Nodes in Wireless Sensor Networks. IEEE Transactions on Communications, 58, 63-67. ttps://doi.org/10.1109/TCOMM.2010.01.080226
[15] Solis, R., Borkar, V.S. and Kumar, P.R. (2006) A New Distributed Time Synchronization Protocol for Multihop Wireless Networks. IEEE Conference on Decision and Control (CDC), San Diego, CA, 13-15 December 2006, 2734-2739.
[Google Scholar] [CrossRef] 
[16] 游路瑶, 黄庆卿, 段斯静. 基于卡尔曼滤波估计的一致性时钟同步算法[J]. 计算机应用, 2017, 37(8): 2177-2183.
[17] Freris, N.M., Borkar, V.S. and Kumar, P.R. (2009) A Model-Based Approach to Clock Synchronization. Proceedings of the 48th IEEE Conference on Decision and Control (CDC) Held Jointly with 2009 28th Chinese Control Conference, Shanghai, 15-18 December 2009, 5744-5749.
[Google Scholar] [CrossRef] 
[18] Carli, R., Chiuso, A., Schenato, L. and Zampieri, S. (2008) A PI Consensus Controller for Networked Clocks Synchronization. Proceedings of the 17th World Congress The International Federation of Automatic Control, Seoul, Korea, 6-11 July 2008, 10289-10294.
[19] Schenato, L. and Fiorentin, F. (2011) Average Time Synch: A Consensus-Based Protocol for Clock Synchronization in Wireless Sensor Networks. Automatica, 47, 1878-1886.
[Google Scholar] [CrossRef] 
[20] Carli, R. and Zampieri, S. (2014) Network Clock Synchronization Based on the Second-Order Linear Consensus Algorithm. IEEE Transactions on Automatic Control, 59, 409-422.
[Google Scholar] [CrossRef] 
[21] Wu, C., Hou, H., Wang, W., Huang, Q. and Gao, X. (2018) TDOA Based Indoor Positioning with NLOS Identification by Machine Learning. 2018 10th International Conference on Wireless Communications and Signal Processing, Hangzhou, 18-20 October 2018, 1-6.
[Google Scholar] [CrossRef] 
[22] Decawave (2015) DW1000 Datasheet.
[23] Decawave (2017) DW1000 User Manual.