|
|
论文:2013,Vol:31,Issue(6):848-852 |
|
|
引用本文： |
|
|
刘明雍, 张兵宇, 张立川. 多AUV协作时钟同步控制算法设计与实现[J]. 西北工业大学 |
|
|
Liu Mingyong, Zhang Bingyu, Zhang Lichuan. Design and Implementation of Clock Synchronization Control Algorithm for Multi-AUV Collaboration Missions[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 多AUV协作时钟同步控制算法设计与实现 |
|
| 刘明雍, 张兵宇, 张立川 |
|
| 西北工业大学 航海学院, 陕西 西安 710072 |
| 摘要: |
| 鉴于多自主式水下航行器(autonomous underwater vehicle,AUV)协同作业中时钟同步技术的重要性,设计了一种基于数字信号处理器(digital signal processor,DSP)的精确时钟同步方案。首先分析了时钟同步过程中误差的来源,并提出了线性回归和卡尔曼滤波算法,对误差进行了有效补偿,确保AUV时钟与全球定位系统(global positioning system,GPS)时钟精确同步。然后利用DSP、GPS模块以及恒温晶振完成了时钟同步控制的硬件实现,时钟校准实验表明,该控制算法大大提高了时钟同步过程中的授时精度和频率稳定度,满足多AUV协同作业在时钟同步方面的需求。 |
| 关键词:
自主式水下航行器(AUV)协同
时钟同步
误差补偿算法
数字信号处理器(DSP)
恒温晶振
|
|
| Design and Implementation of Clock Synchronization Control Algorithm for Multi-AUV Collaboration Missions |
|
| Liu Mingyong, Zhang Bingyu, Zhang Lichuan |
|
| College of Marine Engineering, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| In view of the importance of clock synchronization technology in the collaboration missions of multiple AUVs(autonomous underwater vehicles ), we designed a scheme of accurate clock synchronization based on DSP (digital signal processor ).This paper first analyzes the sources of the errors in the process of clock synchronization and proposed the linear regression and Kalman filter algorithms,to ensure that the errors have been compensated for effectively and to ensure the accurate synchronization of the AUV clock with GPS clock.Then the clock synchroniza-tion controller has been designed and completed using DSP, GPS and the Oven-Controlled Crystal Oscillator (OCXO).Finally, the clock calibration experimental results and their analysis show preliminarily that the control al -gorithm greatly improved the timing accuracy and frequency stability and met the requirement in clock synchroniza -tion for multiple AUV collaboration. |
| Key words:
calibration
controllers
frequency stability
AUV collaboration
DSP (digital signal processors)
error compensation algorithm
OCXO(oven-controlled crystal oscillator)
time synchronization
|
|
| 收稿日期: 2013-03-12
修回日期:
|
| DOI: |
| 基金项目: 国家自然科学基金(51109179、51179156);教育部博士点基金(20106102120057);西北工业大学基础基金(JC201228);西北工业大学翱翔之星计划资助 |
| 通讯作者:
Email： |
| 作者简介: 刘明雍(1971-),西北工业大学教授、博士生导师,主要从事水下导航、惯性技术及非线性控制研究。
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] 曾祥君, 尹项根, 林干, 等. 晶振信号同步 GPS 信号产生高精度时钟的方法及实现. 电力系统自动化, 2003, 27(8): 49-53 Zeng Xiangjun, Yin Xianggen, Lin Gan, et al. Clock of High Accuracy Implemented by Crystal Oscillator in Synchronism with GPS-Clock. Automation of Electric Power Systems, 2003, 27(8): 49-53 (in Chinese)
[2] Stephen T, Lowe, Peter Kroger.A Delay/Doppler-Mapping Receiver System for GPS-Reflection Remote Sensing. IEEE Trans on Geoscience and Remote Sensing, 2002, 40(5): 1150-1163
[3] 郭振坤. GPS 高精度时间/频率同步设备设计和实现. 全球定位系统, 2009, 34(2): 31-35 Guo Zhenkun. Design and Implementation for High Accuracy GPS Time and Frequency Synchronization System. GNSS World of China, 2009, 2: 31-35 (in Chinese)
[4] 王彪, 李宇, 黄海宁. 基于协议同步水下传感器网络目标协同定位算法. 系统仿真学报, 2010, 22(9): 2160-2163 Wang Biao, Li Yu, Huang Haining. Target Collaborative Localization Based on Protocol Synchronization in Underwater Acoustic Sensor Networks. Journal of System Simulation, 2010, 22(9): 2160-2163 (in Chinese)
[5] Eustice R M, Whitcomb L L, Singh H, Grund M. Recent Advances in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation. Proc IEEE/MTS OCEANS Conf.Exhib, Boston, MA, USA, 2006, 1-6
[6] Webster S E, Eustice R M, Singh H. Preliminary Deep Water Results in Single-Beacon One-Way-Travel-Time Acoustic Navigation for Underwater Vehicles.The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, 11-15
[7] Eustice R M. Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles. Proc IEEE Intl Conf Robot Auto, Rome, Italy, 2007, 4257-4246 |
|
|
|
|
|
|
|
