Treffer: Clock Synchronization Algorithm of UAV-USV-UUV Cross-Domain Cooperation

With the development of marine science and technology, underwater missions have placed greater emphasis on the collaboration of cross-platform systems. However, different application scenarios have varying requirements for clock synchronization. Due to the weak communication and high time delay of underwater communication, a new synchronization method is required for heterogeneous systems involving multiple scenarios. With regard to the problem of global time synchronization under the influence of random time delay, a neural network-based time synchronization algorithm for cross-domain cooperation of unmanned aerial vehicles(UAVs), unmanned surface vessels(USVs), and unmanned undersea vehicles(UUVs) was proposed. First, the impact of random time delay was considered, and the clock of USVs was used as the reference clock. The clock offset of UAVs was corrected through recursive filtering and a neural network. Finally, with the assistance of USVs, the underwater long time delay was estimated by UUVs, and a neural network algorithm was designed to estimate clock drift and clock skew. The effectiveness of the proposed algorithm was verified through simulation.