针对同步式测距定位系统的时间同步难题，建立了时间同步误差模型。基于水下航行器在移动沉默状态下同单信标进行时间同步的限定条件，提出2种水下航行器在移动静默状态下同单信标进行时间同步的算法。建立了传播时延变化量同水下航行器运动状态的对应关系，利用单信标测距定位算法实现水下航行器定位的同时给出时间同步误差的估计。仿真结果表明：2种算法均能有效减小时间同步误差，且能容忍声速误差带来的测距误差。
In order to solve the problem of time synchronization of synchronous ranging positioning system, a time synchronization error model was established. Based on the limited conditions of the time synchronization of the underwater vehicle with a single beacon in the mobile silent state, an algorithm for time synchronization of two underwater vehicles with a single beacon in a mobile silent state is proposed. The corresponding relationship between the propagation delay variation and the underwater vehicle's movement state was established. The sin-gle-beacon positioning distance algorithm was used to realize the underwater vehicle positioning and the time synchronization error was estimated. The simulation results show that both algorithms can effectively reduce the time synchronization error and can tolerate the range error caused by the speed error.
2018,40(5): 95-99 收稿日期：2018-03-01
DOI：10.3404/j.issn.1672-7649.2018.05.017
分类号：TB568
作者简介：朱子尧(1992-),男,博士研究生,主要从事水声通信导航一体化技术研究
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