电子学报 ›› 2019, Vol. 47 ›› Issue (9): 1855-1862.DOI: 10.3969/j.issn.0372-2112.2019.09.006

• 学术论文 • 上一篇    下一篇

分布式全局精确时钟同步状态追踪:能观测性观测器分析

王頲, 白桦, 唐晓铭, 黄庆卿   

  1. 重庆邮电大学工业物联网与网络化控制教育部重点实验室, 重庆 400065
  • 收稿日期:2018-11-02 修回日期:2019-01-23 出版日期:2019-09-25 发布日期:2019-09-25
  • 通讯作者: 白桦
  • 作者简介:王頲 男,1977年11月出生于四川眉山.现为重庆邮电大学教授.主要研究方向为物联网理论与应用、网络化控制理论与应用.E-mail:wangting@cqupt.edu.cn;唐晓铭 男,1984年10月出生于四川南充.现为重庆邮电大学副教授.主要从事网络化控制与系统、预测控制理论与方法等方向的基础研究工作.E-mail:tangxm@cqupt.edu.cn;黄庆卿 男,1986年8月出生于重庆.现为重庆邮电大学副教授.主要研究方向为无线传感器网络、时钟同步采集和机械振动.E-mail:qingq.huang@gmail.com
  • 基金资助:
    国家自然科学基金(No.51605065,No.61403055,No.51705059);重庆市基础研究与前沿探索(重庆市自然科学基金)项目(No.CQ CSTC 2017JCYJAX0453,No.CQ CSTC 2018JCYJAX0139,No.CQ CSTC 2018JCYJAX0691);重庆市教委项目(No.KJQN201800645,No.KJ1600402)

Distributed Global Precise Clock Synchronization State Tracking: Analysis of Observable Observer

WANG Ting, BAI Hua, TANG Xiao-ming, HUANG Qing-qing   

  1. Key Laboratory of Industrial Internet of Things & Networked Control, Ministry of Education, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
  • Received:2018-11-02 Revised:2019-01-23 Online:2019-09-25 Published:2019-09-25

摘要: 本文基于现代控制理论观点下的量测模型的能观测性分析,提出绝对时钟状态量测模型的能观测性问题.启发于量测状态向量空间与状态向量运算法则,转化为本质上向量空间的同构映射原理,建立了以基本量测单元(Basic Measurement Unit,BMU)构建最小均方误差(Minimum Mean Square Error,MMSE)等价变换下的能观测性解耦量测模型.该方法揭示了在双向信息交换下对称量测性能的本质,在量测模型满足能观测性的必要条件下实现时钟状态追踪的Kalman filtering算法.本文算法不依赖于优化的初始点设置,初始点选择具有鲁棒性,并且对于网络连接性的变化具有稳健性.仿真结果表明,能观测性量测模型能实现规模化扩展,设计的算法具有局部和全局一致的MMSE量测性能,接近于贝叶斯CRLB(Cramer-Rao Lower Bound)量测性能边界.

关键词: 无线传感器网络, 绝对时钟同步, 能观测性, 线性变换

Abstract: Based on the observability analysis of the measurement model under the modern control theory,this paper proposes the observability problem of the absolute clock state measurement model.It is inspired by measured state vector space and state vector algorithm,and transformed into the isomorphic mapping principle of vector space essentially.It establishes the minimum mean square error (MMSE) observable decoupling measurement model under equivalent transformation with basic measurement unit (BMU).This method reveals the essence of symmetric measurement performance under two-way message exchange,and realizes Kalman filtering algorithm for clock state tracking under the necessary conditions that the measurement model satisfies the observability.The proposed algorithm does not depend on the optimized initial point setting,the initial point selection is robust,and it is also robust to changes in network connectivity.The simulation results show that the observable measurement model can achieve scale expansion,and the proposed algorithm has local and global uniform of MMSE measurement performance,which is close to the boundary of the Bayesian Cramer-Rao lower bound (CRLB) measurement performance.

Key words: wireless sensor network, absolute clock synchronization, observability, linear transformation

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