面向合作目标的多无人机时钟同步算法  

A clock synchronization algorithm of multi-UAV for cooperative objective

作　　者：杨雪榕 王龙飞 袁冉慧 单上求 YANG Xuerong;WANG Longfei;YUAN Ranhui;SHAN Shangqiu(School of Aeronautics and Astronautics,Sun Yat-sen University,Shenzhen 518107,China;Department of Aerospace Science and Technology,Space Engineering University,Beijing 101416,China)

机构地区：[1]中山大学航空航天学院,深圳518107 [2]航天工程大学宇航科学与技术系,北京101416

出　　处：《中国惯性技术学报》2024年第6期572-578,共7页Journal of Chinese Inertial Technology

基　　金：智控实验室开放基金(ICL-2023-0401)。

摘　　要：针对具有随机通信时延的无人机集群的分布式时钟同步问题,提出一种基于合作目标的多无人机时钟同步算法。结合合作目标的运动参数信息和状态估计信息,将时钟同步问题转换成时钟偏差和时钟漂移估计问题,给出了基于优化的同步时间估计方法,并通过最大似然估计方法校准时钟偏移和时钟漂移。最后,针对线性和非线性观测模型以及不同的观测噪声法方差进行了仿真。仿真结果表明,所提算法具有较高的时钟同步精度,初始偏差估计误差可稳定在毫秒级别,时钟速率估计误差可稳定在0.2 ms/s,且观测噪声方差越小的情况下精度越高。所提方法对随机通信时延、节点故障和动态拓扑情况具有良好的鲁棒性,可有效实现无人机集群在GNSS拒止环境中的时钟同步。A clock synchronization algorithm based on cooperative objectives is proposed for the distributed clock synchronization problem of drone clusters with random communication delays.Combining the motion parameter and the state estimation information of the cooperative target,the clock synchronization problem is converted into the clock offset and clock skew estimation problem,and an optimization-based synchronization time estimation method is proposed,the maximum likelihood estimation method is used to calibrate the clock offset and clock skew.Finally,simulations are carried out for linear and nonlinear observation models and different observation noise method variances.The simulation results show that the proposed algorithm has high clock synchronization accuracy,the initial bias estimation error can be stable at the millisecond level,and the clock rate estimation error can be stable at 0.2 ms/s,and higher accuracy with smaller observation noise variance.The proposed method has good robustness to random communication delays,node failures,and dynamic topology situations,and can effectively achieve clock synchronization of multi-UAV in GNSS rejection environments.

关 键 词：时钟同步 多无人机 合作目标 分布式网络 最大似然估计 

分 类 号：U666.1[交通运输工程—船舶及航道工程]