Method for communication within a co-operative system
A method for communication within a co-operative system is provided. The co-operative system comprises a plurality of communication units, which are adapted to execute a group of tasks repeatedly in a repetition cycle: acquire raw data from at least one raw data collector, process the raw data into an information package, and broadcast of the information package. The repetition cycle lasts a predetermined time period from a start of a repetition cycle, and the at least one raw data collector collects data from a global navigation satellite system (GNSS). The raw data from the GNSS comprises a global timing signal, to which said communication units synchronize. A timing of said execution of tasks is dependent of said global timing signal. An individual acquisition time for acquiring raw data from the raw data collectors is set for each of the plurality of communication units.
1. A method for communication within a co-operative system that comprises a plurality of communication units, wherein the communication units are adapted to execute a group of tasks repeatedly in a repetition cycle, the tasks including:
acquiring raw data from at least one raw data collector,
processing said raw data into an information package, and
broadcasting of said information package responsive to completion of said processing said raw data into an information package,
wherein said repetition cycle lasts a predetermined time period from a start of a repetition cycle, and said at least one raw data collector collects data from a global navigation satellite system (GNSS),
wherein said raw data from the GNSS comprises a global timing signal to which said communication units synchronise, and
wherein a timing of said execution of tasks is dependent of the global timing signal, characterised in that an individual acquisition time for acquiring raw data from the at least one raw data collector is set for each of the plurality of communication units.
2. The method according to claim 1 , wherein said processing of said raw data into an information package is executed directly after said acquiring.
3. The method according to claim 1 , wherein said processing of said raw data into an information package is executed directly after the acquiring of raw data, and said broadcast of said information package is executed at an individual broadcasting time at a delay from said start of a repetition cycle.
4. The method according to claim 3 , wherein said individual acquisition time is calculated as an offset dependent of said individual broadcasting time, such that said acquisition of raw data occurs before said broadcasting and at earliest at said start of a repetition cycle.
5. The method according to claim 3 , wherein said individual acquisition time is further dependent on a calculation time of said information package.
6. The method according to claim 1 , wherein said individual acquisition time is randomly set as a delay from a start of a repetition cycle, wherein said individual acquisition time is set at each start-up of a communication unit.
7. The method according to claim 1 , wherein said individual acquisition time is set as a delay from a start of a repetition cycle, wherein said individual acquisition time of a first communication unit is set dynamically dependent upon individual acquisition times of other communication units located within a broadcasting range of said first communication unit.
8. The method according to claim 1 , wherein said individual acquisition time is randomly set as a delay from each start of a repetition cycle at production of a communication unit.
9. The method according to claim 1 , wherein said individual acquisition time is randomly set as a delay from each start of a repetition cycle at each change of a pseudo-ID of a communication unit.