工业物联网确定性调度中TDMA紧时隙时间精度边界可靠性分析
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摘要
针对如何保证物联网确定性调度中时分多址(TDMA)紧时隙时间精度边界,首先建立不完全观测的绝对时钟同步状态空间模型;根据间歇观测方程推导修正的绝对时钟卡尔曼滤波器,得到了随机误差协方差迭代式;然后将误差协方差迭代式建模为修正的黎卡提微分方程,研究稳态误差协方差的统计特性;利用凸优化理论和线性矩阵不等式(LMI)工具求解时钟状态估计的临界包到达率和估计误差协方差的统计收敛边界。面向网络参数配置和TDMA时隙的紧边界应用需求,定量分析存在观测值丢失的时钟同步误差与精度边界,建立时钟同步精度边界与无线网络的权衡关系,并提出存在观测值丢失时保时带大小设计方法。
In deterministic scheduling of internet of things,the time division multiple access(TDMA) tight slots time precision boundary should be ensured. First,this paper establishes the absolute clock synchronization state space model of intermittent observation.According to the intermittent observation equation,the modified absolute clock Kalman filter is deduced,and the random error covariance iteration equation is obtained. Then,the error covariance iterative model is used to modify the Riccati differential equation,the statistical properties of the steady-state error covariance are studied. Finally,the statistical convergence bounds of the critical packet arrival rate and the estimated error covariance of the clock state estimation are both solved,by using the Convex optimization theory and the linear matrix inequation(LMI) tool. For application requirements of network parameter configuration and the tight boundary of the TDMA slot,the clock synchronization error and accuracy of the boundary are quantitatively analyzed when existence of the observation is lost. the trade-off relationship between the clock synchronization precision boundary and the wireless network is established. Moreover,the design method of Guard time bound size is proposed when the observation is lost.
In deterministic scheduling of internet of things,the time division multiple access(TDMA) tight slots time precision boundary should be ensured. First,this paper establishes the absolute clock synchronization state space model of intermittent observation.According to the intermittent observation equation,the modified absolute clock Kalman filter is deduced,and the random error covariance iteration equation is obtained. Then,the error covariance iterative model is used to modify the Riccati differential equation,the statistical properties of the steady-state error covariance are studied. Finally,the statistical convergence bounds of the critical packet arrival rate and the estimated error covariance of the clock state estimation are both solved,by using the Convex optimization theory and the linear matrix inequation(LMI) tool. For application requirements of network parameter configuration and the tight boundary of the TDMA slot,the clock synchronization error and accuracy of the boundary are quantitatively analyzed when existence of the observation is lost. the trade-off relationship between the clock synchronization precision boundary and the wireless network is established. Moreover,the design method of Guard time bound size is proposed when the observation is lost.
引文
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[13]ZHANG H,SONG X,SHI L.Convergence and mean square stability of suboptimal estimator for systems with measurement packet dropping[J].IEEE Transactions on Automatic Control,2012,57(5):1248-1253.
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[15]JIN Z,GUPTA V,MURRAY R M.State estimation over packet dropping networks using multiple description coding[J].Automatica,2006,42(9):1441-1452.
[16]SCHENATO L,SINOPOLI B,FRANCESCHETTI M,et al.Foundations of control and estimation over lossy networks[J].Proceedings of the IEEE,2007,95(1):163-187.
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[18]SUI T,YOU K,FU M.Stability conditions for multisensor state estimation over a lossy network[J].Automatica,2015,53(5):1-9.
[19]SUI T,YOU K,FU M,et al.Stability of MMSE state estimators over lossy networks using linear coding[J].Automatica,2015,51(C):167-174.
[20]LUO B,WU Y C.Distributed clock parameters tracking in wireless sensor network[J].IEEE Transactions on Wireless Communications,2013,12(12):6464-6475.
[21]ELSON J,GIROD L,ESTRIN D.Fine-grained network time synchronization using reference broadcasts[C].Proceedings of the 5th Symposium on Operating Systems Design and Implementation,2002,36(SI):147-163.
[22]李强,梁炜.无线HART网络管理器的设计与实现[J].仪器仪表学报,2008,29(S):141-145.LI Q,LIANG W.Design and implementation of wireless HART network manager[J].Chinese Journal of Scientific Instrument,2008,29(S):141-145.
[2]闵明慧.面向工业物联网的IEEE 802.15.4e TSCH调度算法研究[D].沈阳:沈阳理工大学,2016.MIN M H.Research on resource scheduling algorithm in industrial Io T application using IEEE802.15.4e TSCH[D].Shenyang:Shenyang Ligong University,2016.
[3]王恒,陈鹏飞,王平.面向WIA-PA工业无线传感器网络的确定性调度算法[J].电子学报,2018,46(1):68-74.WANG H,CHEN P F,WANG P.Deterministic scheduling algorithm for WIA-PA industrial wireless sensor networks[J].Acta Electronica Sinica,2018,46(1):68-74.
[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]TAO Z,MING H U.Improvement based on the hierarchical levels structure of the TPSN algorithm[J].Chinese Journal of Sensors&Actuators,2012,25(5):691-695.
[6]孙毅,曾璐琨,武昕,等.基于频偏估计的无线传感器网络时间同步算法[J].通信学报,2015,36(9):26-33.SUN Y,ZENG L K,WU X,et al.Timing synchronization algorithm based on clock skew estimation for WSN[J].Journal on Communications,2015,36(9):26-33.
[7]王頲,万羊所,唐晓铭,等.不可靠WSN时钟同步网络化输出反馈MPC量化分析[J].仪器仪表学报,2017,38(7):1798-1808.WANG T,WAN Y S,TANG X M,et al.Unreliable WSN clock synchronization networked output feedback model predictive control quantitative analysis[J].Chinese Journal of Scientific Instrument,2017,38(7):1798-1808.
[8]金彦亮,邓伟,方昌立.基于群一致性的大规模无线传感网时间同步[J].电子测量技术,2016,39(7):160-164.JIN Y L,DENG W,FANG CH L.Distributed synchronization in large-scale wireless sensor networks using group consensus protocol[J].Electronic Measurement Technology,2016,39(7):160-164.
[9]黄友锐,陈珍萍,李德权,等.无线传感器网络二阶一致性时间同步[J].电子与信息学报,2017,39(1):51-57.HUANG Y R,CHEN ZH P,LI D Q,et al.Second-order consensus time synchronization for wireless sensor networks[J].Journal of Electronics&Information Technology,2017,39(1):51-57.
[10]WANG T,CAI C Y,GUO D,et al.Clock synchronization in wireless sensor networks:A new model and analysis approach based on networked control perspective[J].Mathematical Problems in Engineering,2014,2014(3):1-19.
[11]WANG T,GUO D,CAI C Y,et al.Clock synchronization in wireless sensor networks:Analysis and design of error precision based on lossy networked control perspective[J].Mathematical Problems in Engineering,2015,2015(2):1-17.
[12]SHI L,XIE L,MURRAY R M.Kalman filtering over a packet-delaying network:A probabilistic approach[J].Automatica,2010,45(9):2134-2140.
[13]ZHANG H,SONG X,SHI L.Convergence and mean square stability of suboptimal estimator for systems with measurement packet dropping[J].IEEE Transactions on Automatic Control,2012,57(5):1248-1253.
[14]HUANG M,DEY S.Stability of Kalman filtering with Markovian packet losses[J].Automatica,2007,43(4):598-607.
[15]JIN Z,GUPTA V,MURRAY R M.State estimation over packet dropping networks using multiple description coding[J].Automatica,2006,42(9):1441-1452.
[16]SCHENATO L,SINOPOLI B,FRANCESCHETTI M,et al.Foundations of control and estimation over lossy networks[J].Proceedings of the IEEE,2007,95(1):163-187.
[17]SINOPOLI B,SCHENATO L,FRANCESCHETTI M,et al.Kalman filtering with intermittent observations[J].IEEE Transactions on Automatic Control,2004,1(9):1453-1464.
[18]SUI T,YOU K,FU M.Stability conditions for multisensor state estimation over a lossy network[J].Automatica,2015,53(5):1-9.
[19]SUI T,YOU K,FU M,et al.Stability of MMSE state estimators over lossy networks using linear coding[J].Automatica,2015,51(C):167-174.
[20]LUO B,WU Y C.Distributed clock parameters tracking in wireless sensor network[J].IEEE Transactions on Wireless Communications,2013,12(12):6464-6475.
[21]ELSON J,GIROD L,ESTRIN D.Fine-grained network time synchronization using reference broadcasts[C].Proceedings of the 5th Symposium on Operating Systems Design and Implementation,2002,36(SI):147-163.
[22]李强,梁炜.无线HART网络管理器的设计与实现[J].仪器仪表学报,2008,29(S):141-145.LI Q,LIANG W.Design and implementation of wireless HART network manager[J].Chinese Journal of Scientific Instrument,2008,29(S):141-145.