无人机平台运动状态下节点间高精度时间同步

陈聪; 段柏宇; 徐强; 潘文生; 马万治; 邵士海

doi:10.19665/j.issn1001-2400.20231207

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无人机平台运动状态下节点间高精度时间同步

信息与通信工程 | 更新时间：2024-07-23

- 无人机平台运动状态下节点间高精度时间同步
- High precision time synchronization between nodes under motion scenario of UAV platforms
- 西安电子科技大学学报 2024年51卷第3期页码：19-29
- 作者机构：
  
  1. 电子科技大学通信抗干扰全国重点实验室,四川成都 611731
  2. 电磁空间认知与智能控制技术实验室,北京 100089
- 作者简介：
  
  [ "陈聪(1990—),男,电子科技大学博士研究生,E-mail:[email protected]" ]
  [ "段柏宇(1996—),男,电子科技大学博士研究生,E-mail:[email protected]" ]
  [ "潘文生(1975—),男,副研究员,E-mail:[email protected]" ]
  [ "马万治(1977—),男,副研究员,E-mail:[email protected]" ]
  [ "邵士海(1980—),男,教授,E-mail:[email protected]" ]
- 基金信息：
  
  国家自然科学基金(U19B2014);国家自然科学基金(62071094);国家自然科学基金(61901396)
- DOI：10.19665/j.issn1001-2400.20231207
  中图分类号： TN919.34
- 纸质出版日期：2024-06-20，
  
  网络出版日期：2024-01-31，
  
  收稿日期：2023-06-10，
- 稿件说明：
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陈聪, 段柏宇, 徐强, 等. 无人机平台运动状态下节点间高精度时间同步[J]. 西安电子科技大学学报, 2024,51(3):19-29.

Cong CHEN, Baiyu DUAN, Qiang XU, et al. High precision time synchronization between nodes under motion scenario of UAV platforms[J]. Journal of Xidian University, 2024,51(3):19-29.
陈聪, 段柏宇, 徐强, 等. 无人机平台运动状态下节点间高精度时间同步[J]. 西安电子科技大学学报, 2024,51(3):19-29. DOI： 10.19665/j.issn1001-2400.20231207.

Cong CHEN, Baiyu DUAN, Qiang XU, et al. High precision time synchronization between nodes under motion scenario of UAV platforms[J]. Journal of Xidian University, 2024,51(3):19-29. DOI： 10.19665/j.issn1001-2400.20231207.

摘要

节点间的时间同步是无人机集群资源调度、协同定位、数据融合的基础

在同步精度要求较高的场景中常用双向时间同步进行节点间的时间同步。然而无人机的相对运动会导致两次同步消息的传播时延不等

进而引起时间同步误差。针对该问题

首先从线性方程组求解角度分析了时间同步误差的产生原因

提出了一种利用双触发双向时间同步以增加方程个数、并在节点匀速运动前提下减少未知量个数的方法。然后推导了该方法下钟差的求解公式

结果表明钟差求解与节点的匀速运动速度无关。随后比较了在加性高斯白噪声信道中双触发式双向时间同步方法与现有运动补偿方法的钟差估计性能

并分析了时间戳处理时延和速度改变对钟差求解精度的影响。最后通过外场实验验证了双触发式双向时间同步的有效性。仿真及实验结果表明

相比于传统双向时间同步

双触发式双向时间同步不会因节点的匀速运动导致主从节点间的时间同步出现系统偏差。

Abstract

Time synchronization is the foundation for transmission resource scheduling

cooperative localization and data fusion in UAV clusters.Two-way time synchronization is commonly used to synchronize time between nodes in scenarios with high synchronization accuracy requirements.However

the relative motion of the UAVs will cause the propagation delays of the two synchronization messages to be unequal

thereby causing time synchronization errors.To solve this problem

the causes of synchronization deviation are analyzed from the perspective of solving linear equations.A method is proposed to increase the number of equations by conducting two-way time synchronization twice

with the number of unknown quantities being reduced under the premise of the uniform motion of nodes.The solution formula for the clock deviation under uniform motion of nodes is derived

and the derivation results show that the clock deviation solution is independent of the speed of the nodes.Synchronization performance is compared with that of existing compensation methods under the additive Gaussian white noise channel.The effect of time stamp deviation and speed changing on the accuracy of the clock deviation solution is analyzed.Finally

the effectiveness of the dual-trigger two-way time synchronization is verified through field experiments.Simulation and experiment results show that

compared with conventional two-way time synchronization

the dual-trigger two-way time synchronization does not cause systematic deviations by the uniform motion of nodes.

关键词

无人机双向时间同步非对称传输时延线性方程组

Keywords

unmanned aerial vehiclestwo-way time synchronizationasymmetric transmission delaylinear equations

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