飞行器自主集群时间校准算法  

Autonomous Cluster Time Calibration Algorithm for Aircrafts

作　　者：王龙飞 袁冉慧 韦邦国 杨雪榕 WANG Longfei;YUAN Ranhui;WEI Bangguo;YANG Xuerong(School of Aeronautics and Astronautics,Sun Yat-sen University,Shenzhen 518106,Guangdong,China;Jianghuai Advanced Technology Center,Hefei 230000,Anhui,China)

机构地区：[1]中山大学航空航天学院,广东深圳518106 [2]江淮前沿技术协同创新中心,安徽合肥230000

出　　处：《上海航天(中英文)》2025年第1期180-185,共6页Aerospace Shanghai(Chinese&English)

基　　金：陕西省智控实验室开放基金资助项目(ICL-2023-0401)。

摘　　要：同步时间基准是集群协同控制的关键基础。针对无外部精确时钟源和内部通信时延导致的集群网络时间同步收敛精度和速度降低,提出一种结合运动模型和状态估计的时钟同步算法。该算法中构造符合时钟模型的线性回归模型,使用伪测量数据估计时钟补偿参数。在自主构建和维持的集群统一时间基准中,进一步利用一种基于两步加权融合的时间配准算法,实现对目标的异步测量数据融合。仿真结果表明:基于动模型和状态估计的时钟同步算法具有较快的收敛性和较高的时钟同步精度,可为后续数据融合提供统一时间基准,并且基于两步加权融合的时间配准算法相比于一步卡尔曼预测法精度更高。Synchronous time reference is the key basis of cluster cooperative control.In view of the reduced convergence accuracy and speed of cluster network time synchronization caused by the absence of external precise clock source and the delay of internal communication,a clock synchronization algorithm combining the motion model and state estimation is proposed.In this algorithm,a linear regression model conforming to the clock model is constructed,and the clock compensation parameters are estimated with the pseudo-measurement data.In the self-constructed and maintained cluster unified time base,a time registration algorithm based on two-step weighted fusion is used to achieve the asynchronous measurement data fusion of the target.The simulation results show that the clock synchronization algorithm based on the motion model and state estimation has fast convergence and high clock synchronization accuracy,which can provide a unified time reference for subsequent data fusion,and the time registration algorithm based on two-step weighted fusion has higher accuracy than the one-step Kalman prediction method.

关 键 词：飞行器集群 时钟同步 多传感器融合 时间配准 异步融合 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]