A clock synchronization algorithm based on cooperative objectives is proposed for the distributed clock synchronization problem of drone clusters with random communication delays.Combining the motion parameter and the state estimation information of the cooperative target,the clock synchronization problem is converted into the clock offset and clock skew estimation problem,and an optimization-based synchronization time estimation method is proposed,the maximum likelihood estimation method is used to calibrate the clock offset and clock skew.Finally,simulations are carried out for linear and nonlinear observation models and different observation noise method variances.The simulation results show that the proposed algorithm has high clock synchronization accuracy,the initial bias estimation error can be stable at the millisecond level,and the clock rate estimation error can be stable at 0.2 ms/s,and higher accuracy with smaller observation noise variance.The proposed method has good robustness to random communication delays,node failures,and dynamic topology situations,and can effectively achieve clock synchronization of multi-UAV in GNSS rejection environments.
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