Emerging industrial applications involving robotic collaborative operations and mobile robots require a more reliable and precise wireless network for deterministic data transmission. To meet this demand, the 3rd Generation Partnership Project (3GPP) is promoting the integration of 5th Generation Mobile Communication Technology (5G) and Time-Sensitive Networking (TSN). Time synchronization is essential for deterministic data transmission. Based on the 3GPP's vision of the 5G and TSN integrated networking with interoperability, we improve the time synchronization of TSN to conquer the multi-gNB competition, re-transmission, and mobility problems for the integrated 5G time synchronization. We implemented the improvement mechanisms and systematically validated the performance of 5G+TSN time synchronization. Based on the simulation in 500m x 500m industrial environments, the improved time synchronization achieved a precision of 1 microsecond with interoperability between 5G nodes and TSN nodes.

翻译：新兴工业应用涉及机器人协同操作和移动机器人，对确定性数据传输的无线网络提出了更高可靠性与精度的要求。为满足这一需求，第三代合作伙伴计划（3GPP）正推动第五代移动通信技术（5G）与时间敏感网络（TSN）的融合。时间同步是实现确定性数据传输的关键。基于3GPP关于5G与TSN互操作融合组网的愿景，我们改进了TSN时间同步机制，以解决融合5G时间同步中存在的多gNB竞争、重传及移动性问题。我们实现了改进机制，并对5G+TSN时间同步性能进行了系统性验证。在500m×500m工业环境仿真中，改进后的时间同步在5G节点与TSN节点互操作条件下实现了1微秒的精度。