Patent ID: 11864140
Assignee: INTELLIGENT FUSION TECHNOLOGY, INC.
Field: Digital communication (Electrical engineering)
Classification: CPC B  H | IPC B  H

Claim 19:
20. An event-driven simulation method of enhanced multi-way time transfer for time synchronization between at least one slave node and one master node, wherein the method is implemented in a system comprising the at least one slave node each comprising an unmanned aerial system (UAS) and the one master node comprising one UAS, the method comprising:
performing a first event, by one slave node of the at least one slave node, to launch an enhanced two-way time transfer every one millisecond at a local clock of the one slave node;
performing a second event, by the one slave node, to send a first message to the master node to launch a time synchronization between the one slave node and the master node, the first message including a start time of sending the first message on the local clock of the one slave node, and the one slave node calculating a Transmit (TX) processing time of the first message;
performing a third event, by the master node, to receive the first message through an antenna of the master node;
performing a fourth event, by the master node, to add a receiving time of receiving the first message on a master clock of the master node to the first message to form a second message, the master node calculating a Receive (RX) processing time of the first message;
performing a fifth event, by the master node, to send the second message back to the one slave node, the second message including a start time of sending the second message on the master clock of the master node, and the master node calculating a TX processing time of the second message;
performing a sixth event, by the one slave node, to receive the second message through an antenna of the one slave node; and
performing a seventh event, by the one slave node, to add a receiving time of receiving the second message on the local clock of the one slave node to the second message to form an updated message, the one slave node calculating a RX processing time of the second message; and to perform a time adjustment to the local clock of the one slave node based on the updated message, thereby synchronizing time between the local clock of the one slave node and the master clock of the master node, wherein:
the one slave node calculates a first distance between the one slave node and the master node at the start time of sending the first message, and calculates a second distance between the one slave node and the master node at the start time of sending the second message, and
the time adjustment is determined by the one slave node based on following elements including: the start time of sending the first message, the TX processing time of the first message, the receiving time of receiving the first message, the RX processing time of the first message, the start time of sending the second message, the TX processing time of the second message, the receiving time of receiving the second message, the RX processing time of the second message, the first distance, and the second distance.