基于卡尔曼滤波估计的一致性时钟同步算法
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摘要
针对无线传感器网络(WSN)的众多应用都需要依赖时钟同步的节点协同完成,而由于节点的晶体震荡器受自身以及外界环境的影响,使得节点时钟偏斜和时钟偏移两个参数发生变化导致时钟不同步问题,提出了基于分布式卡尔曼滤波估计的一致性补偿时钟同步算法DKFCC。该算法首先利用双向信息交换机制以及分布式卡尔曼滤波实现时钟偏斜和偏移两个参数的最优估计,然后基于时钟参数的最优估计值采用一致性补偿方法实现节点的时钟同步。实验结果表明:在100个节点随机部署的WSN中,采用虚拟全局一致性方式的DKFCC同步算法比异步一致性同步(AC)算法的同步均方根误差(SRAMSE)值降低了约95%,具有较高的同步精度;同时,所提出算法从时钟参数层面实现同步,无需频繁地进行时钟同步操作,相比AC算法更节能。
For Wireless Sensor Network( WSN), many applications rely on the coordination of synchronized clock nodes.However, the crystal oscillator of the node is affected by itself and the external environment, so that the clock skew and clock offset change and then lead to the clocks falling out of synchronization. Consequently, a new clock synchronization algorithm based on distributed Kalman filter and consistency compensation, namely DKFCC, was proposed. First of all, the optimal estimation of the clock skew and offset was obtained by two-way message exchange mechanism and distributed Kalman filter.Then consistency compensation method based on the optimal estimation value of clock parameters was adopted to achieve clock synchronization. The experimental results show that compared with the Asynchronous Consensus-based time synchronization( AC) algorithm in the WSN with 100 randomly-deployed nodes, the Synchronous Root Mean Square Error( SRAMSE) of the DKFCC synchronization algorithm with virtual global consistency is reduced by about 95%, which means DKFCC synchronization algorithm has higher synchronization accuracy. At the same time, the proposed algorithm achieves synchronization from the clock parameter level without operating clock synchronization frequently, thus it has better energy efficiency compared to AC synchronization algorithm.
For Wireless Sensor Network( WSN), many applications rely on the coordination of synchronized clock nodes.However, the crystal oscillator of the node is affected by itself and the external environment, so that the clock skew and clock offset change and then lead to the clocks falling out of synchronization. Consequently, a new clock synchronization algorithm based on distributed Kalman filter and consistency compensation, namely DKFCC, was proposed. First of all, the optimal estimation of the clock skew and offset was obtained by two-way message exchange mechanism and distributed Kalman filter.Then consistency compensation method based on the optimal estimation value of clock parameters was adopted to achieve clock synchronization. The experimental results show that compared with the Asynchronous Consensus-based time synchronization( AC) algorithm in the WSN with 100 randomly-deployed nodes, the Synchronous Root Mean Square Error( SRAMSE) of the DKFCC synchronization algorithm with virtual global consistency is reduced by about 95%, which means DKFCC synchronization algorithm has higher synchronization accuracy. At the same time, the proposed algorithm achieves synchronization from the clock parameter level without operating clock synchronization frequently, thus it has better energy efficiency compared to AC synchronization algorithm.
引文
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[2]曾培,陈伟.基于控制角度的无线传感器网络时钟同步优化算法[J].计算机应用,2015,35(10):2852-2857.(ZENG P,CHENW.Improved algorithm of time synchronization based on control perspective of wireless sensor network[J].Journal of Computer Applications,2015,35(10):2852-2857.)
[3]蒋智鹰,陈勇,胡冰,等.无线传感器网络时间同步算法研究[J].计算机工程与应用,2017,53(1):1-8.(JIANG Z Y,CHEN Y,HU B,et al.Research on time synchronization algorithm for wireless sensor networks[J].Computer Engineering and Applications,2017,53(1):1-8.)
[4]WU Y-C,CHAUDHARI Q,SERPEDIN E.Clock synchronization of wireless sensor networks[J].IEEE Signal Processing Magazine,2011,28(1):124-138.
[5]LIAO C,BAROOAH P.Di Sync:Accurate distributed clock synchronization in mobile Ad-Hoc networks from noisy difference measurements[C]//ACC 2013:Proceedings of American Control Conference.Piscataway,NJ:IEEE,2013:3332-3337.
[6]李文锋,王汝传,孙力娟.基于RBS的无线传感器网络时间同步算法[J].通信学报,2008,29(6):82-86.(LI W F,WANG R C,SUN L J.Proved wireless sensor networks time synchronization algorithm based on RBS[J].Journal on Communications,2008,29(6):82-86.)
[7]GANERIWAL S,KUMAR R,SRIVASTAVA M B.Timing-sync protocol for sensor networks[C]//Sen Sys'03:Proceedings of the1st International Conference on Embedded Networked Sensor Systems.New York:ACM,2003:138-149.
[8]MAROTI M,KUSY B,SIMON G,et al.The flooding time synchronization protocol[C]//Sen Sys'04:Proceedings of the 2nd International Conference on Embedded Networked Sensor Systems.New York:ACM,2004:39-49.
[9]VAN GREUNEN J,RABAEY J.Lightweight time synchronization for sensor networks[C]//WSNA'03:Proceedings of the 2nd ACMInternational Conference on Wireless Sensor Networks and Applications.New York:ACM,2003:11-19.
[10]陶志勇,胡明.基于等级层次结构的TPSN算法改进[J].传感技术学报,2012,25(5):691-695.(TAO Z Y,HU M.Improvement based on the hierarchical levels structure of the TPSN algorithm[J].Chinese Journal of Sensors and Actuators,2012,25(5):691-695.)
[11]姜帆,郑霖.无线传感器网络TPSN-RBS联合时间同步算法[J].传感器与微系统,2016,35(1):149-152.(JIANG F,ZHENG L.TPSN-RBS joint time synchronization algorithm for wireless sensor networks[J].Transducer and Microsystem Technologies,2016,35(1):149-152.)
[12]SICHITIU M L,VEERARITTIPHAN C.Simple,accurate time synchronization for wireless sensor networks[C]//WCNC 2003:Proceedings of the 2003 IEEE Wireless Communications and Networking.Piscataway,NJ:IEEE,2003:1266-1273.
[13]WERNER-ALLEN G,TEWARI G,PATEL A,et al.Firefly-inspired sensor network synchronicity with realistic radio effects[C]//Sen Sys'05:Proceedings of the 3rd International Conference on Embedded Networked Sensor Systems.New York:ACM,2005:142-153.
[14]SOLIS R,BORKAR V S,KUMAR P R.A new distributed time synchronization protocol for multihop wireless networks[C]//Proceedings of the 45th IEEE Conference on Decision and Control.Piscataway,NJ:IEEE,2006:2734-2739.
[15]SCHENATO L,FIORENTIN F.Average Time Synch:a consensusbased protocol for clock synchronization in wireless sensor networks[J].Automatica,2011,47(9):1878-1886.
[16]MAGGS M K,O'KEEFE S G,THIEL D V.Consensus clock synchronization for wireless sensor networks[J].IEEE Sensors Journal,2012,12(6):2269-2277.
[17]AHMED S,XIAO F,CHEN T.Asynchronous consensus-based time synchronisation in wireless sensor networks using unreliable communication links[J].IET Control Theory&Applications,2014,8(12):1083-1090.
[18]HUA MIAO MIAO,DONG LI DA.A closed-loop adjusting strategy for wireless HART time synchronization[C]//Proceedings of2011 11th International Symposium on Communications and Information Technologies.Piscataway,NJ:IEEE,2011:131-135.
[19]SIMEONE O,SPAGNOLINI U,BAR-NESS Y,et al.Distributed synchronization in wireless networks[J].IEEE Signal Processing Magazine,2008,25(5):81-97.
[20]DEMIR A,MEHROTRA A,ROYCHOWDHURY J.Phase noise in oscillators:a unifying theory and numerical methods for characterization[J].IEEE Transactions on Circuits and Systems I:Fundamental Theory and Applications,2000,47(5):655-674.
[21]ELSON J,GIROD L,ESTRIN D.Fine-grained network time synchronization using reference broadcasts[J].ACM SIGOPS Operating Systems Review-OSDI'02:Proceedings of the 5th Symposium on Operating Systems Design and Implementation,2002,36(SI):147-163.
[22]LUO B,WU Y C.Distributed clock parameters tracking in wireless sensor network[J].IEEE Transactions on Wireless Communications,2013,12(12):6464-6475.
[23]LIN L,MA S,MA M.A group neighborhood average clock synchronization protocol for wireless sensor networks[J].Sensors,2014,14(8):14744-64.