无线网络仪器的时钟同步、定位及数据安全存储算法研究
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摘要
无线网络仪器可以灵活的工作于各种场合，并易于搭建分布式测试测量系统，能够实现远程监控以及软硬件资源的共享。无线网络仪器比有线仪器更加适合用于室外或野外的测试测量，但由于没有线缆的连接，只能利用统一的时钟实现仪器的同步触发机制。同时，仪器的定位技术以及对数据完整安全的保护都是无线网络仪器需要研究的重要内容，也是保证分布式系统良好运行的关键。
本文首先根据仪器的工作环境分析无线信道的特征并确定信道模型，建立仿真环境，在此基础上进行了如下研究：
1）仪器的内部时钟需要为分布式系统中仪器的同步触发、数据的有效融合提供准确的时间支持，而构成时钟的晶振由于环境因素及自身固有的特性等原因会影响时钟的稳定性和准确性。本文以内部时钟性能较好的仪器时钟作为主时钟，系统中其它仪器时钟（从时钟）通过与主时钟交换同步信息计算自己的时钟参数，然后加以校正。由于无线网络传输延迟不对称，容易受干扰，直接采用精密时钟同步（PTP）算法来确定时间偏差的误差较大，因此在PTP算法的基础上，提出一种基于平方根-卡尔曼滤波（SR-KF）的时钟同步算法。SR-KF算法根据时钟模型和主从时钟交换的时间信息，建立状态方程，得到仪器时钟偏差和偏斜的最优估计，经过数次迭代后，精度趋于稳定，在相同的仿真环境下，SR-KF算法对时钟偏差的估计精度远高于PTP算法。
2）获得仪器的位置对远程测控和数据融合处理都是非常重要的，在测距定位的过程中，无线信号传输时存在的非视距（NLOS）干扰会严重影响TOA测距精度，导致定位结果产生很大误差，对此采用的抑制方法有：对测距值进行预处理，去除NLOS误差；采用加权的方法减小NLOS干扰的影响；排除非视距锚节点（NLOS-Anchor），利用视距锚节点（LOS-Anchor）采用极大似然法对未知仪器节点进行定位。第一种方法需要获得NLOS干扰的准确的统计特性，这通常比较难以实现，第二种方法对NLOS干扰具有一定的抑制作用，但没有消除较大的NLOS干扰的影响，第三种方法要求LOS-Anchor的个数超过3个（二维定位），对锚节点的数量要求较高。在本文中，经过多次实验发现，用于定位的都是LOS-Anchor时，未知节点的位置估计值集中在一个小区域，存在越多的NLOS-Anchor，位置估计值越分散。本文提出基于弹性包含圆的NLOS-Anchor判别算法，排除干扰大的NLOS-Anchor，然后利用余下的锚节点进行定位，将得到的估计结果进行残差加权，作为对未知节点的位置估计。与极大似然法和残差加权方法相比，本文提出的算法定位精度明显提高。算法适用于二维以及三维环境。
3）测量数据在被收集之前会存储在仪器中，可能因各种原因遭到破坏和丢失。采用备份的方法会造成大量的存储开销以及通信开销，利用纠删码技术将数据分发存储的方法安全性不高，因此提出基于秘密共享策略和Tornado纠删码技术的数据安全存储方案（SST），将数据加密后，分发存储于一些相邻的仪器节点之中。经过统计计算表明，当仪器节点失效导致数据不可用时，SST算法能够以较高的概率恢复原始数据。与基于RS编码的存储策略相比，SST算法恢复数据需要略多的仪器节点，但是在数据量较大时，能够提高存储分发及数据重建的速度。
Wireless networked instrument can be flexibly used in various occasions, andeasy-to-build distributed test and measurement systems, remote monitoring andcontrol can be achieved as well as the software and hardware resource sharing.Wireless networked instrument is more suitable than wired instrument to work in anoutdoor or field test and measurement system. Without cable connection, themechanism of synchronization trigger can only be accomplished through an unifiedclock. Positioning and data security of wireless networked instrument are importantfor distributed system’s well running.
In this thesis, the characteristics of wireless channel are analyzed and channelmodels are determined according to the working environment of instrument, thestudies on this basis as follow:
1) The instrument's internal clock need to provide accurate time to performinstrument synchronous trigger and data fusion in distributed systems. The crystalconstituting the clock will affect the clock stability and accuracy due to environmentalfactors and inherent characteristics. In this thesis, the clock with the best performanceis master clock, while the other clocks are slave clock. The slave clock can calculateand correct its own clock parameters by exchanging the synchronization message withmaster clock. Using Precision clock synchronization protocol for networkedmeasurement and control systems (PTP) to calculate the clock offset in wirelessnetwork is inaccurate because of the asymmetry transmission. Based on the PTPalgorithm, we proposed a clock synchronization algorithm based on square-rootKalman filter (SR-KF). State equation of Kalman filter can be established accordingto the clock model and the exchanged synchronization message between master clockand slave clock, and then use SR-KF algorithm to obtain optimal estimations of theclock offset and skew, the accuracy can be stabilized after several iterations. In thesame simulation environment, the SR-KF clock offset estimation precision is muchhigher than PTP.
2) The position of instrument is important for remote monitoring and data fusion.Positioning with non-line-of sight (NLOS) TOA can lead to large position errors.There are broadly three ways to cope with the NLOS condition. The first way islocalize with processed TOA, the difficulties are in obtaining an accurate model ofNLOS. The second way localizes with all TOA measurements, but provides weightingto minimize the effects of the NLOS contributions. The problem is that NLOS errors are always present though reduced. The third way is to localize with the LOS-Anchoruse maximum likelihood detection. This method requires at least three LOS-Anchorsto localize (in Two-dimensional environment). In the thesis, many experiments showthat the position estimations with LOS-Anchor are concentrated in a small area. Withmore NLOS-Anchors, the position estimations are more dispersed. An elasticenclosing circle based NLOS-Anchor discrimination algorithm is proposed in thethesis to identify and remove NLOS-Anchors. Localizing with the rest of anchors,then using residual weighting algorithm to the result of estimation, a position estimateof unknown node can be obtained. Compared to the maximum likelihood method andthe weighted residual method, positioning accuracy of the proposed algorithm hasimproved significantly. The algorithm is suitable for both two-dimensional andthree-dimensional environment.
3) Measured data stored in wireless networked instruments may be destructed orloss till they are collected. The redundant storage based on replication will cause a lotof storage overhead and communication overhead. The erasure codes based algorithmdistributes and store data with lower security, SST algorithm is proposed according tosecret sharing and Tornado code to encrypt data and distribute in adjacent instruments.Statistical calculations show that, when instrument nodes are failure so that data areunavailable, SST can accurately recover original data with high probability. Comparedwith the storage strategy based on RS code, the restoration of data needs a little higherthe number of nodes, but it can improve the speed of data distribution and storage andreconstruction when the storage data quantity is higher.
本文首先根据仪器的工作环境分析无线信道的特征并确定信道模型，建立仿真环境，在此基础上进行了如下研究：
1）仪器的内部时钟需要为分布式系统中仪器的同步触发、数据的有效融合提供准确的时间支持，而构成时钟的晶振由于环境因素及自身固有的特性等原因会影响时钟的稳定性和准确性。本文以内部时钟性能较好的仪器时钟作为主时钟，系统中其它仪器时钟（从时钟）通过与主时钟交换同步信息计算自己的时钟参数，然后加以校正。由于无线网络传输延迟不对称，容易受干扰，直接采用精密时钟同步（PTP）算法来确定时间偏差的误差较大，因此在PTP算法的基础上，提出一种基于平方根-卡尔曼滤波（SR-KF）的时钟同步算法。SR-KF算法根据时钟模型和主从时钟交换的时间信息，建立状态方程，得到仪器时钟偏差和偏斜的最优估计，经过数次迭代后，精度趋于稳定，在相同的仿真环境下，SR-KF算法对时钟偏差的估计精度远高于PTP算法。
2）获得仪器的位置对远程测控和数据融合处理都是非常重要的，在测距定位的过程中，无线信号传输时存在的非视距（NLOS）干扰会严重影响TOA测距精度，导致定位结果产生很大误差，对此采用的抑制方法有：对测距值进行预处理，去除NLOS误差；采用加权的方法减小NLOS干扰的影响；排除非视距锚节点（NLOS-Anchor），利用视距锚节点（LOS-Anchor）采用极大似然法对未知仪器节点进行定位。第一种方法需要获得NLOS干扰的准确的统计特性，这通常比较难以实现，第二种方法对NLOS干扰具有一定的抑制作用，但没有消除较大的NLOS干扰的影响，第三种方法要求LOS-Anchor的个数超过3个（二维定位），对锚节点的数量要求较高。在本文中，经过多次实验发现，用于定位的都是LOS-Anchor时，未知节点的位置估计值集中在一个小区域，存在越多的NLOS-Anchor，位置估计值越分散。本文提出基于弹性包含圆的NLOS-Anchor判别算法，排除干扰大的NLOS-Anchor，然后利用余下的锚节点进行定位，将得到的估计结果进行残差加权，作为对未知节点的位置估计。与极大似然法和残差加权方法相比，本文提出的算法定位精度明显提高。算法适用于二维以及三维环境。
3）测量数据在被收集之前会存储在仪器中，可能因各种原因遭到破坏和丢失。采用备份的方法会造成大量的存储开销以及通信开销，利用纠删码技术将数据分发存储的方法安全性不高，因此提出基于秘密共享策略和Tornado纠删码技术的数据安全存储方案（SST），将数据加密后，分发存储于一些相邻的仪器节点之中。经过统计计算表明，当仪器节点失效导致数据不可用时，SST算法能够以较高的概率恢复原始数据。与基于RS编码的存储策略相比，SST算法恢复数据需要略多的仪器节点，但是在数据量较大时，能够提高存储分发及数据重建的速度。
Wireless networked instrument can be flexibly used in various occasions, andeasy-to-build distributed test and measurement systems, remote monitoring andcontrol can be achieved as well as the software and hardware resource sharing.Wireless networked instrument is more suitable than wired instrument to work in anoutdoor or field test and measurement system. Without cable connection, themechanism of synchronization trigger can only be accomplished through an unifiedclock. Positioning and data security of wireless networked instrument are importantfor distributed system’s well running.
In this thesis, the characteristics of wireless channel are analyzed and channelmodels are determined according to the working environment of instrument, thestudies on this basis as follow:
1) The instrument's internal clock need to provide accurate time to performinstrument synchronous trigger and data fusion in distributed systems. The crystalconstituting the clock will affect the clock stability and accuracy due to environmentalfactors and inherent characteristics. In this thesis, the clock with the best performanceis master clock, while the other clocks are slave clock. The slave clock can calculateand correct its own clock parameters by exchanging the synchronization message withmaster clock. Using Precision clock synchronization protocol for networkedmeasurement and control systems (PTP) to calculate the clock offset in wirelessnetwork is inaccurate because of the asymmetry transmission. Based on the PTPalgorithm, we proposed a clock synchronization algorithm based on square-rootKalman filter (SR-KF). State equation of Kalman filter can be established accordingto the clock model and the exchanged synchronization message between master clockand slave clock, and then use SR-KF algorithm to obtain optimal estimations of theclock offset and skew, the accuracy can be stabilized after several iterations. In thesame simulation environment, the SR-KF clock offset estimation precision is muchhigher than PTP.
2) The position of instrument is important for remote monitoring and data fusion.Positioning with non-line-of sight (NLOS) TOA can lead to large position errors.There are broadly three ways to cope with the NLOS condition. The first way islocalize with processed TOA, the difficulties are in obtaining an accurate model ofNLOS. The second way localizes with all TOA measurements, but provides weightingto minimize the effects of the NLOS contributions. The problem is that NLOS errors are always present though reduced. The third way is to localize with the LOS-Anchoruse maximum likelihood detection. This method requires at least three LOS-Anchorsto localize (in Two-dimensional environment). In the thesis, many experiments showthat the position estimations with LOS-Anchor are concentrated in a small area. Withmore NLOS-Anchors, the position estimations are more dispersed. An elasticenclosing circle based NLOS-Anchor discrimination algorithm is proposed in thethesis to identify and remove NLOS-Anchors. Localizing with the rest of anchors,then using residual weighting algorithm to the result of estimation, a position estimateof unknown node can be obtained. Compared to the maximum likelihood method andthe weighted residual method, positioning accuracy of the proposed algorithm hasimproved significantly. The algorithm is suitable for both two-dimensional andthree-dimensional environment.
3) Measured data stored in wireless networked instruments may be destructed orloss till they are collected. The redundant storage based on replication will cause a lotof storage overhead and communication overhead. The erasure codes based algorithmdistributes and store data with lower security, SST algorithm is proposed according tosecret sharing and Tornado code to encrypt data and distribute in adjacent instruments.Statistical calculations show that, when instrument nodes are failure so that data areunavailable, SST can accurately recover original data with high probability. Comparedwith the storage strategy based on RS code, the restoration of data needs a little higherthe number of nodes, but it can improve the speed of data distribution and storage andreconstruction when the storage data quantity is higher.
引文
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