TY - GEN
T1 - Research on Clock Synchronization Method of Multiple UAVs Cooperative Localization
AU - Qu, Yaohong
AU - Xu, Shengyang
AU - Yang, Bing
N1 - Publisher Copyright:
© 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - Given the importance of clock synchronization technology in multiple unmanned aerial vehicles (UAVs) cooperative localization, an accurate clock synchronization scheme based on GPS second-pulse signal and internal timing module of the computer is designed. Firstly, this paper introduces the global positioning system (GPS) and multiple UAVs cooperative localization, discusses the importance of clock synchronization for localization accuracy and analyzes the sources of errors in the synchronization process, and then studies the effect of the clock out of sync on positioning accuracy by simulation. Finally, the hardware implementation of clock synchronization control with STM32 and GPS modules is completed. The experiment shows that this method can obtain the time-stamp information accurate to the millisecond (ms) level, which can meet the time requirement of multiple UAVs cooperative positioning.
AB - Given the importance of clock synchronization technology in multiple unmanned aerial vehicles (UAVs) cooperative localization, an accurate clock synchronization scheme based on GPS second-pulse signal and internal timing module of the computer is designed. Firstly, this paper introduces the global positioning system (GPS) and multiple UAVs cooperative localization, discusses the importance of clock synchronization for localization accuracy and analyzes the sources of errors in the synchronization process, and then studies the effect of the clock out of sync on positioning accuracy by simulation. Finally, the hardware implementation of clock synchronization control with STM32 and GPS modules is completed. The experiment shows that this method can obtain the time-stamp information accurate to the millisecond (ms) level, which can meet the time requirement of multiple UAVs cooperative positioning.
KW - Clock synchronization
KW - GPS
KW - Multi-UAVs cooperative localization
UR - https://www.scopus.com/pages/publications/85120657112
U2 - 10.1007/978-981-15-8155-7_212
DO - 10.1007/978-981-15-8155-7_212
M3 - 会议稿件
AN - SCOPUS:85120657112
SN - 9789811581540
T3 - Lecture Notes in Electrical Engineering
SP - 2527
EP - 2539
BT - Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Yu, Xiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2020
Y2 - 23 October 2020 through 25 October 2020
ER -