CN113589678B - UWB-based mine seismograph time service system and method - Google Patents
UWB-based mine seismograph time service system and method Download PDFInfo
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Abstract
The invention discloses a time service system and a method of a mine seismograph based on UWB, the method carries out time service on each acquisition substation in sequence from a time service base station until clock deviation calculation of a feedback base station is completed and is compared with a threshold value and then is transmitted back to the time service base station; then, time service is performed on each acquisition substation in sequence and reversely from the feedback base station, and then the acquisition substations return to the time service base station, the clock deviation of the time service base station is calculated and compared with a threshold value, and time service is completed. The invention adopts the high-precision UWB module to carry out clock synchronization and adopts wireless signals to carry out communication, the clock synchronization precision can reach microsecond or even nanosecond level, and the invention has the characteristics of convenience in implementation, low cost and high precision.
Description
Technical Field
The invention belongs to the technical field of geophysical exploration, relates to a seismograph time service method, and particularly relates to a seismograph time service method based on UWB.
Background
In the field of seismic exploration, time synchronization of each acquisition node is one of key influencing factors for ensuring accurate acquisition of seismic data. At present, two methods of high-precision time synchronization in closed environments such as mines are roughly classified into two methods. One is a network time service mechanism adopting an IEE1588 protocol, and has the advantages of realizing microsecond-level high-precision time service, needing special link structures and hardware support, high construction cost and being incapable of ensuring time service precision under universal network hardware conditions. In addition, the GPS time service is completed on the ground, and the high-precision crystal oscillator is adopted in the acquisition node to complete time conservation, so that the method has the advantages of low construction cost, great improvement on construction convenience due to the fact that the restriction of cable connection in the first time service mechanism is eliminated, and the defects that the time synchronization precision of the acquisition node is greatly reduced along with the increase of construction time, and the requirement of long-time earthquake detection or monitoring cannot be met.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a UWB-based mine seismograph time service system and a UWB-based mine seismograph time service method, so as to solve the shortcomings in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mine seismograph time service system based on UWB comprises a time service base station, a feedback base station and a plurality of acquisition substations, wherein the acquisition substations are positioned between the time service base station and the feedback base station; an auxiliary label I is arranged between the time service base station and the adjacent acquisition substation, and an auxiliary label II is arranged between the feedback base station and the adjacent acquisition substation; time service communication can be carried out among the time service base station, the feedback base station, the acquisition substation, the auxiliary tag I and the auxiliary tag II;
the time service base station, the feedback base station, the auxiliary tag I and the auxiliary tag II comprise UWB modules, and the acquisition substation comprises two UWB modules which are a tag module and a base station module respectively;
the time service base station is standard time of the whole system, manages the clock of each acquisition substation, ensures that the clock deviation between each node meets the system requirement, and the clock precision of the time service base station and the feedback base station is higher than that of each acquisition substation; the feedback base station is used for cooperating with the time service base station to ensure the clock synchronization precision of each acquisition substation; the acquisition substation is used for receiving and transmitting standard time information and acquiring and storing seismic signals; the auxiliary tag I is used for clock synchronization between the time service base station and the adjacent acquisition substations; and the auxiliary label II is used for feeding back clock synchronization between the base station and the adjacent acquisition substations.
A time service method of mine seismograph based on UWB, this method is realized through the said system, begin to time service every to gather the substation sequentially from the time service base station, until finishing the clock deviation calculation of the feedback base station and transmitting back to the time service base station; then, time service is performed on each acquisition substation in sequence and reversely from the feedback base station, and then the acquisition substations return to the time service base station to complete time service.
The invention also comprises the following technical characteristics:
specifically, the method comprises the following steps:
step one, a plurality of acquisition substations are arranged in a mine at equal intervals, a time service base station and a feedback base station are respectively arranged at two ends of the plurality of acquisition substations after clock synchronization, and an auxiliary tag I and an auxiliary tag II are arranged;
establishing time service communication link information of a time service base station, a feedback base station, a collection substation, an auxiliary tag I and an auxiliary tag II according to an actual position diagram;
thirdly, starting from the time service base station, carrying out time service on the acquisition substation 1, the acquisition substation 2 and the acquisition substation 3 … in sequence until clock deviation calculation of the feedback base station is completed, and returning time service success or failure information to the time service base station after the clock deviation calculation is compared with a threshold value;
and step four, after the feedback base station completes clock synchronization, timing is sequentially performed on the acquisition substations X, …, the acquisition substation 3, the acquisition substation 2 and the acquisition substation 1 from the feedback base station, and then the feedback base station returns to the timing base station, the clock deviation of the timing base station is calculated and compared with a threshold value, and timing is completed.
Specifically, the third step includes:
step 3.1, the time service base station sends a time service command to an auxiliary tag I, the auxiliary tag I sends a pulse signal, the time service base station and a base station module of the acquisition substation 1 record the receiving time of the pulse signal, the time information exchange is completed through the auxiliary tag I after the receiving is completed, the clock deviation of the acquisition substation 1 and the time service base station is calculated, the absolute time correction is performed on the acquisition substation 1 by using the calculated clock deviation, and therefore the clock synchronization of the time service base station and the acquisition substation 1 is completed;
step 3.2, the label module of the acquisition substation 1 sends a pulse signal, the time service base station and the base station module of the acquisition substation 2 record the receiving time of the pulse signal, the time information exchange is completed through the label module of the acquisition substation 1 after the receiving is completed, the clock deviation of the acquisition substation 2 and the time service base station is calculated, the absolute time correction is carried out on the acquisition substation 2 by using the calculated clock deviation, and therefore the clock synchronization of the time service base station and the acquisition substation 2 is completed;
3.3, sequentially carrying out time service on serial links in sequence in the same way, after the time service on the acquisition substation S (S is more than or equal to 2) is finished, sending a pulse signal by a label module of the acquisition substation S, recording the receiving time of the pulse signal by a base station module of the acquisition substation S-1 and a base station module of the acquisition substation S +1, finishing time information exchange by the label module of the acquisition substation S after the receiving is finished, calculating the clock deviation of the acquisition substation S-1 and the acquisition substation S +1, and carrying out absolute time correction on the acquisition substation S +1 by using the calculated clock deviation so as to carry out clock synchronization of the acquisition substation S +1 and the acquisition substation S-1; thereby completing time service of all the acquisition substations in sequence;
3.4 the auxiliary label II sends pulse signals, the collection substation X and the feedback base station record the receiving time of the pulse signals, the auxiliary label II completes time information exchange after the receiving is completed, and the clock deviation delta T of the collection substation X and the feedback base station is calculatedFeedback base station(ii) a Since the feedback base station and the time service base station are synchronized in clock before working and adopt the time keeping circuit with the same precision, when the time is delta TFeedback base stationWhen the time service time is greater than the set threshold value, the time service is considered to be unsuccessful, time service failure information is transmitted back to the time service base station, and the time service base station restarts the time service program until delta TFeedback base stationNot exceeding a set threshold.
Specifically, the time service base station, the acquisition substation 1, the acquisition substation 2, the acquisition substation 3 …, the acquisition substation X and the feedback base station are sequentially arranged at equal intervals; the auxiliary tag I is located at the midpoint position between the time service base station and the acquisition substation 1, and the auxiliary tag II is located at the midpoint position between the feedback base station and the acquisition substation X.
Specifically, the clock bias in step 3.1 is an average value obtained by calculating the difference between the timestamp of the pulse signal of the auxiliary tag I received by the base station module of the acquisition substation 1 and the timestamp of the pulse signal of the auxiliary tag I received by the time service base station for N times;
similarly, the clock bias in step 3.2 is an average value obtained by calculating the difference between the timestamp of the tag module pulse signal received by the base station module of the acquisition substation 2 from the acquisition substation 1 and the timestamp of the tag module pulse signal received by the time service base station from the acquisition substation 1 for N times;
the clock deviation in the step 3.3 is an average value obtained by calculating the difference value between the timestamp of the base station module of the acquisition substation S +1 receiving the tag module pulse signal of the acquisition substation S and the timestamp of the acquisition substation S-1 receiving the tag module pulse signal of the acquisition substation S for N times;
the clock deviation in step 3.4 is an average value obtained by calculating the difference between the timestamp of the feedback base station receiving the pulse signal of the auxiliary tag II and the timestamp of the acquisition substation X receiving the pulse signal of the auxiliary tag II for N times.
Specifically, the fourth step includes: reversely executing steps 3.4 to 3.1, and calculating to obtain the clock deviation delta T of the time service base stationTime service base station，ΔTTime service base stationWhen the difference value between the time stamp of the pulse signal of the auxiliary tag I received by the time service base station and the time stamp of the pulse signal of the auxiliary tag I received by the acquisition substation 1 is delta TTime service base stationAnd when the set threshold value is not exceeded, each node in the system realizes clock synchronization.
Compared with the prior art, the invention has the beneficial technical effects that:
according to the invention, the high-precision UWB modules are adopted for clock synchronization, and wireless signals are adopted for communication among the modules, so that the laying cost of a synchronous cable is saved; due to the high-frequency narrow-pulse width characteristic of the wireless signals, the clock synchronization precision can reach microsecond or even nanosecond level, errors can be further corrected by adopting methods such as filtering, statistical learning and the like, and the synchronization precision is improved. Compared with the prior art, the invention has the characteristics of convenience in implementation, low cost and high precision.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention.
The invention is described in detail below with reference to the drawings and the detailed description.
Detailed Description
In the invention, the acquisition base stations serially complete clock synchronization one by one according to the sequence of the distance from the acquisition base station to the time service base station from near to far; the time service frequency, the time service precision and the like are uniformly managed by an upper computer program of the time service base station. Because the UWB module realizes the transmission and the identification of pulse signals with ultra-narrow bandwidth, the scheme can realize the clock synchronization of microsecond level and even nanosecond level between the acquisition nodes. The acquisition nodes are not connected by cables, the construction difficulty of the project is small, the cost is low, and the time service base station can dynamically adjust the time service frequency and the time service compensation of the acquisition substations in real time according to the data of the acquisition substations and the feedback base station, so that the time service precision of all the nodes in the system can meet the construction requirement. By adopting a time interval time service method, clock time service is executed once at intervals, so that the local clock errors of all the acquisition substations cannot be accumulated, and all the acquisition substations in the system can keep high-precision time synchronization for a long time. In conclusion, the time service system of the seismograph time service method based on the UWB can realize low-cost and high-precision clock synchronization in the underground closed environment.
The present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention fall within the protection scope of the present invention. The present invention will be described in further detail with reference to examples.
Example 1:
the embodiment provides a UWB-based mine seismograph time service system, as shown in FIG. 1, the system comprises a time service base station, a feedback base station and a plurality of acquisition substations, wherein the acquisition substations are positioned between the time service base station and the feedback base station; an auxiliary label I is arranged between the time service base station and the adjacent acquisition substation, and an auxiliary label II is arranged between the feedback base station and the adjacent acquisition substation; and time service communication can be carried out among the time service base station, the feedback base station, the acquisition substation, the auxiliary tag I and the auxiliary tag II.
The time service base station, the feedback base station, the auxiliary tag I and the auxiliary tag II comprise UWB modules, and the acquisition substation comprises two UWB modules which are respectively a tag module and a base station module.
The time service base station sends and recovers the time information, the time information needs to circulate in the system for a week and finally returns to the time service base station, the time service base station judges the validity of time service by comparing the returned time information with the clock of the time service base station, and then the clock synchronization precision of each acquisition node in the system is uniformly managed. The time service base station is standard time (time source) of the whole system, manages the clock of each acquisition substation, ensures that the clock deviation between each node meets the system requirement, and the clock precision of the time service base station and the feedback base station is higher than that of each acquisition substation; the feedback base station is used for cooperating with the time service base station to ensure the clock synchronization precision of each acquisition substation; the acquisition substation is used for receiving and transmitting standard time information and acquiring and storing seismic signals; the auxiliary tag I is used for clock synchronization between the time service base station and the adjacent acquisition substations; and the auxiliary label II is used for feeding back clock synchronization between the base station and the adjacent acquisition substations.
In this embodiment, the collection substations include a collection substation 1, a collection substation 2, and a collection substation 3 …, which are sequentially arranged, where the collection substation X is the xth collection substation; the time service base station, the acquisition substation 1, the acquisition substation 2, the acquisition substation 3 … and the feedback base station are sequentially arranged at equal intervals; the auxiliary label I is positioned at the midpoint between the time service base station and the acquisition substation 1, and the auxiliary label II is positioned at the midpoint between the feedback base station and the acquisition substation X.
Example 2:
the embodiment provides a time service method of a mine seismograph based on UWB, which is realized by the system of the embodiment 1, and comprises the steps of carrying out time service on an acquisition substation 1, an acquisition substation 2 and an acquisition substation 3 … in sequence from a time service base station until clock deviation calculation of a feedback base station is completed and time service success or failure information is returned to the time service base station after the clock deviation calculation is compared with a threshold value; then, time service is carried out on the acquisition substations X and …, the acquisition substation 3, the acquisition substation 2 and the acquisition substation 1 in sequence from the feedback base station, and then the time service is finished after the time service base station returns and calculates the clock deviation of the time service base station and compares the clock deviation with the threshold value.
The method specifically comprises the following steps:
the method comprises the following steps that firstly, a plurality of acquisition substations are distributed in a mine at equal intervals according to a construction design drawing, then a time service base station and a feedback base station are respectively distributed at two ends of the plurality of acquisition substations after high-precision clock synchronization is carried out in a line synchronization or ground GPS synchronization mode, and the distance between the time service base station and a first acquisition substation, the distance between the feedback base station and a last acquisition substation and the distance between two adjacent acquisition substations are equal; an auxiliary tag I is arranged between the time service base station and the first acquisition substation, and an auxiliary tag II is arranged between the feedback base station and the last acquisition substation;
establishing time service communication link information of a time service base station, a feedback base station, a collection substation, an auxiliary tag I and an auxiliary tag II according to an actual position diagram; according to the position diagram, sequentially writing the communication addresses of all nodes (namely an acquisition substation in the system, an auxiliary tag and a UWB module in a feedback base station) into a management system of the time service base station; the UWB module communication addresses of the time service base station, the feedback base station, the acquisition substation and the auxiliary tag equipment need to ensure the uniqueness in the ad hoc network; the time service base station sends the communication link information to each node in the system step by step;
thirdly, time service is sequentially carried out on an acquisition substation 1, an acquisition substation 2 and an acquisition substation 3 … acquisition substation X from the time service base station until clock deviation calculation of a feedback base station is completed and time service success or failure information is returned to the time service base station after the clock deviation calculation is compared with a threshold value;
and step four, after the feedback base station completes clock synchronization, timing is sequentially performed on the acquisition substations X, …, the acquisition substation 3, the acquisition substation 2 and the acquisition substation 1 from the feedback base station, and then the feedback base station returns to the timing base station, the clock deviation of the timing base station is calculated and compared with a threshold value, and timing is completed.
Specifically, the third step comprises:
step 3.1, the time service base station sends a time service command to an auxiliary tag I, the auxiliary tag I sends a pulse signal, the time service base station and a base station module of the acquisition substation 1 record the receiving time of the pulse signal, the time information exchange is completed through the auxiliary tag I after the receiving is completed, the clock deviation of the acquisition substation 1 and the time service base station is calculated, the absolute time correction is performed on the acquisition substation 1 by using the calculated clock deviation, and therefore the clock synchronization of the time service base station and the acquisition substation 1 is completed;
step 3.2, the label module of the acquisition substation 1 sends a pulse signal, the time service base station and the base station module of the acquisition substation 2 record the receiving time of the pulse signal, the time information exchange is completed through the label module of the acquisition substation 1 after the receiving is completed, the clock deviation of the acquisition substation 2 and the time service base station is calculated, the absolute time correction is carried out on the acquisition substation 2 by using the calculated clock deviation, and therefore the clock synchronization of the time service base station and the acquisition substation 2 is completed;
3.3, sequentially carrying out time service on serial links in sequence in the same way, after the time service on the acquisition substation S (S is more than or equal to 2) is finished, sending a pulse signal by a label module of the acquisition substation S, recording the receiving time of the pulse signal by a base station module of the acquisition substation S-1 and a base station module of the acquisition substation S +1, finishing time information exchange by the label module of the acquisition substation S after the receiving is finished, calculating the clock deviation of the acquisition substation S-1 and the acquisition substation S +1, and carrying out absolute time correction on the acquisition substation S +1 by using the calculated clock deviation so as to carry out clock synchronization of the acquisition substation S +1 and the acquisition substation S-1; thereby completing time service of all the acquisition substations in sequence;
3.4 the auxiliary label II sends pulse signals, the collection substation X and the feedback base station record the receiving time of the pulse signals, the auxiliary label II completes time information exchange after the receiving is completed, and the clock deviation delta T of the collection substation X and the feedback base station is calculatedFeedback base station(ii) a Since the feedback base station and the time service base station are synchronized in clock before working and adopt the time keeping circuit with the same precision, when the time is delta TFeedback base stationWhen the time service time is greater than the set threshold value, the time service is considered to be unsuccessful, time service failure information is transmitted back to the time service base station, and the time service base station restarts the time service program until delta TFeedback base stationNot exceeding the set threshold.
Specifically, the fourth step comprises: reversely executing the steps 3.4 to 3.1, and calculating the clock deviation delta T of the time service base stationTime service base station，ΔTTime service base stationWhen the difference value between the time stamp of the pulse signal of the auxiliary tag I received by the time service base station and the time stamp of the pulse signal of the auxiliary tag I received by the acquisition substation 1 is delta TTime service base station≤ΔTThreshold valueWhen the utility model is used, the water is discharged,the various nodes in the system achieve clock synchronization.
The clock deviation in the step 3.1 is an average value obtained by calculating the difference value between the timestamp of the pulse signal of the auxiliary tag I received by the base station module of the acquisition substation 1 and the timestamp of the pulse signal of the auxiliary tag I received by the time service base station for N times;
more specifically, the time stamps of the N-time pulse signals received by the time service base station from the auxiliary tag I are respectively marked as TAnchor[1]、TAnchor[2]、……，TAnchor[N](ii) a The timestamps of N times of pulse signals of the auxiliary label I received by the base station module of the collecting substation 1 are respectively marked as TA[1]、TA[2]、……、TA[N](ii) a The following formula is satisfied:
TA[i]-dlabel 1-Collection substation 1/C+ΔTA[i]＝ TAnchor[i] -dTime service base station-tag 1/C (1)
In the above formula, TA[i]A time stamp of the pulse signal of the auxiliary tag I is received by a base station module of the collecting substation 1 for the ith time; dLabel I-acquisition substation 1The distance from the auxiliary label I to the acquisition substation 1; dTime service base station-label IThe distance from the time service base station to the auxiliary label I; c is the speed of light; delta TA[i]The clock deviation of the substation 1 relative to the time service base station at the moment is acquired; t isAnchor[i]Receiving a timestamp of the pulse signal of the auxiliary tag I for the ith time by the time service base station; due to dLabel IAcquisition substations 1 and dTime service base stationLabel I equals, equation 1 can be derived as: t isA[i]+ΔTA[i]＝TAnchor[i](1-1); according to a formula 1-1, calculating the clock deviation delta T of the acquisition substation 1 and the time service base station corresponding to the ith pulse signalA[i](ii) a Averaging the clock deviations calculated N times:
by calculated Δ TAAbsolute time correction is carried out on the acquisition substation 1, and the acquisition substation 1 corrects delta TAThe numerical value and the time service success state value are transmitted back to the time service base station, so that the clock synchronization of the time service base station and the acquisition substation 1 is completed.
Similarly, the clock bias in step 3.2 is an average value obtained by calculating the difference between the timestamp of the tag module pulse signal received by the base station module of the acquisition substation 2 from the acquisition substation 1 and the timestamp of the tag module pulse signal received by the time service base station from the acquisition substation 1 for N times;
the clock deviation in the step 3.3 is an average value obtained by calculating the difference value between the timestamp of the base station module of the collecting substation S +1 receiving the pulse signal of the label module of the collecting substation S and the timestamp of the collecting substation S-1 receiving the label module pulse signal of the collecting substation S for N times;
the clock deviation in step 3.4 is an average value obtained by calculating the difference between the timestamp of the feedback base station receiving the pulse signal of the auxiliary tag II and the timestamp of the acquisition substation X receiving the pulse signal of the auxiliary tag II for N times.
Preferably, every interval TTime service intervalAnd then, repeating the third step and the fourth step, so that the time service base station can obtain the time error array delta T of each acquisition substationijAnd (i is 1, 2, … …, X is the substation number, and j is 1, 2, … …, n is the time service for the second time), the time service base station calculates the frequency error of the acquisition substation according to the time service error of the acquisition substation and feeds the frequency error back to the corresponding acquisition substation, and the acquisition substation corrects the local clock frequency according to the frequency error parameter. In conclusion, the error of the frequency of each acquisition substation is calculated by adopting an algorithm (such as multiple averaging and even machine learning), the error parameter is transmitted to the corresponding acquisition substation, and the acquisition substation adjusts the clock frequency of the acquisition substation according to the parameter, so that the time keeping precision in the time service interval period is improved. Taking a simple error correction algorithm as an example for frequency correction of the acquisition substation A: frequency deviation
Where f is the acquisition substation's own clock frequency.
Claims (7)
1. A mine seismograph time service system based on UWB is characterized in that the system comprises a time service base station, a feedback base station and a plurality of acquisition substations positioned between the time service base station and the feedback base station; an auxiliary label I is arranged between the time service base station and the adjacent acquisition substation, and an auxiliary label II is arranged between the feedback base station and the adjacent acquisition substation; time service communication can be carried out among the time service base station, the feedback base station, the acquisition substation, the auxiliary tag I and the auxiliary tag II;
the time service base station, the feedback base station, the auxiliary tag I and the auxiliary tag II comprise UWB modules, and the acquisition substation comprises two UWB modules which are a tag module and a base station module respectively;
the time service base station is standard time of the whole system, manages the clock of each acquisition substation, ensures that the clock deviation between each node meets the system requirement, and the clock precision of the time service base station and the feedback base station is higher than that of each acquisition substation; the feedback base station is used for cooperating with the time service base station to ensure the clock synchronization precision of each acquisition substation; the acquisition substation is used for receiving and transmitting standard time information and acquiring and storing seismic signals; the auxiliary tag I is used for clock synchronization between the time service base station and the adjacent acquisition substations; and the auxiliary label II is used for feeding back clock synchronization between the base station and the adjacent acquisition substations.
2. A mine seismograph time service method based on UWB, characterized by that, this method is realized through the system stated in claim 1, begin to time service every gathering the substation sequentially from the time service base station, until finishing the clock deviation calculation of the feedback base station and transmitting back to the time service base station; then, time service is performed on each acquisition substation in sequence and reversely from the feedback base station, and then the acquisition substations return to the time service base station to complete time service.
3. The UWB-based mine seismograph time service method of claim 2, comprising the steps of:
step one, a plurality of acquisition substations are arranged in a mine at equal intervals, a time service base station and a feedback base station are respectively arranged at two ends of the plurality of acquisition substations after clock synchronization, and an auxiliary tag I and an auxiliary tag II are arranged;
establishing time service communication link information of a time service base station, a feedback base station, a collection substation, an auxiliary tag I and an auxiliary tag II according to an actual position diagram;
thirdly, time service is sequentially carried out on an acquisition substation 1, an acquisition substation 2 and an acquisition substation 3 … acquisition substation X from the time service base station until clock deviation calculation of a feedback base station is completed and time service success or failure information is returned to the time service base station after the clock deviation calculation is compared with a threshold value;
and step four, after the feedback base station completes clock synchronization, timing is sequentially performed on the acquisition substations X, …, the acquisition substation 3, the acquisition substation 2 and the acquisition substation 1 from the feedback base station, and then the feedback base station returns to the timing base station, the clock deviation of the timing base station is calculated and compared with a threshold value, and timing is completed.
4. The UWB-based mine seismograph time service method of claim 3, wherein the third step comprises:
step 3.1, the time service base station sends a time service command to an auxiliary tag I, the auxiliary tag I sends a pulse signal, the time service base station and a base station module of the acquisition substation 1 record the receiving time of the pulse signal, the time information exchange is completed through the auxiliary tag I after the receiving is completed, the clock deviation of the acquisition substation 1 and the time service base station is calculated, the absolute time correction is performed on the acquisition substation 1 by using the calculated clock deviation, and therefore the clock synchronization of the time service base station and the acquisition substation 1 is completed;
step 3.2, the label module of the acquisition substation 1 sends a pulse signal, the time service base station and the base station module of the acquisition substation 2 record the receiving time of the pulse signal, the time information exchange is completed through the label module of the acquisition substation 1 after the receiving is completed, the clock deviation of the acquisition substation 2 and the time service base station is calculated, the absolute time correction is carried out on the acquisition substation 2 by using the calculated clock deviation, and therefore the clock synchronization of the time service base station and the acquisition substation 2 is completed;
3.3, sequentially carrying out time service on serial links in sequence in the same way, after the time service on the acquisition substation S (S is more than or equal to 2) is finished, sending a pulse signal by a label module of the acquisition substation S, recording the receiving time of the pulse signal by a base station module of the acquisition substation S-1 and a base station module of the acquisition substation S +1, finishing time information exchange by the label module of the acquisition substation S after the receiving is finished, calculating the clock deviation of the acquisition substation S-1 and the acquisition substation S +1, and carrying out absolute time correction on the acquisition substation S +1 by using the calculated clock deviation so as to carry out clock synchronization of the acquisition substation S +1 and the acquisition substation S-1; thereby completing time service of all the acquisition substations in sequence;
3.4 the auxiliary label II sends pulse signals, the collection substation X and the feedback base station record the receiving time of the pulse signals, the auxiliary label II completes time information exchange after the receiving is completed, and the clock deviation delta T of the collection substation X and the feedback base station is calculatedFeedback base station(ii) a Since the feedback base station and the time service base station are synchronized in clock before working and adopt the time keeping circuit with the same precision, when the time is delta TFeedback base stationWhen the time service time is greater than the set threshold value, the time service is considered to be unsuccessful, time service failure information is transmitted back to the time service base station, and the time service base station restarts the time service program until delta TFeedback base stationNot exceeding the set threshold.
5. The UWB-based mine seismograph time service method of claim 4, wherein the time service base station, the acquisition substation 1, the acquisition substation 2, the acquisition substation 3 …, the acquisition substation X and the feedback base station are sequentially arranged at equal intervals; the auxiliary tag I is located at the midpoint position between the time service base station and the acquisition substation 1, and the auxiliary tag II is located at the midpoint position between the feedback base station and the acquisition substation X.
6. The UWB-based mine seismograph time service method of claim 5, wherein the clock bias in the step 3.1 is an average value of N times of calculation of a difference value between a timestamp of a pulse signal of an auxiliary tag I received by a base station module of the acquisition substation 1 and a timestamp of the pulse signal of the auxiliary tag I received by the time service base station;
similarly, the clock bias in step 3.2 is an average value obtained by calculating the difference between the timestamp of the tag module pulse signal received by the base station module of the acquisition substation 2 from the acquisition substation 1 and the timestamp of the tag module pulse signal received by the time service base station from the acquisition substation 1 for N times;
the clock deviation in the step 3.3 is an average value obtained by calculating the difference value between the timestamp of the base station module of the acquisition substation S +1 receiving the tag module pulse signal of the acquisition substation S and the timestamp of the acquisition substation S-1 receiving the tag module pulse signal of the acquisition substation S for N times;
the clock deviation in step 3.4 is an average value obtained by calculating the difference between the timestamp of the feedback base station receiving the pulse signal of the auxiliary tag II and the timestamp of the acquisition substation X receiving the pulse signal of the auxiliary tag II for N times.
7. The UWB-based mine seismograph time service method of claim 6, wherein the fourth step comprises: reversely executing steps 3.4 to 3.1, and calculating to obtain the clock deviation delta T of the time service base stationTime service base station，ΔTTime service base stationWhen the difference value between the time stamp of the pulse signal of the auxiliary tag I received by the time service base station and the time stamp of the pulse signal of the auxiliary tag I received by the acquisition substation 1 is delta TTime service base stationAnd when the set threshold value is not exceeded, each node in the system realizes clock synchronization.
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