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Abstract
PNT (positioning, navigation, and timing) is the core functional part of kinds of wireless sensor network, which can provide high‐precision timing and positioning services for cooperative work systems. Unfortunately, the mature wireless PNT schemes are generally based on GNSS and other auxiliary sources to complete the high accuracy synchronization process, which cannot be applied to GNSS degraded and denied environments such as mines, underground application. In order to solve the application problem of high‐precision wireless PNT, Hybsync—a novel non‐GNSS‐aided wireless PNT architecture, is proposed in this paper, which integrates the information from the UWB communication, inertial sensor, and camera to achieve great PNT performance. Hybsync improves the accuracy of time deviation measurement by collecting and recording timestamps in hardware layer, and with the coarse/fine synchronization two‐phase calibration, Hybsync greatly improves the accuracy of time deviation adjustment, thus providing accurate time information for the whole system. Besides, Hybsync uses the VINS framework to further integrate the real‐time information of IMU and camera to complete the multinode positioning service. Under the premise that the cost is much lower than existing solutions, Hybsync can provide nanosecond‐level clock synchronization and centimeter‐level positioning. Experiments prove that Hybsync supports high‐precision clock synchronization and positioning of more than 10 nodes; the maximum clock synchronization error is 3 ns, and the positioning error is 7 cm. It can provide accurate time and position services for cooperative work systems under complex and GNSS‐denied conditions.
Highlights
PNT systems play a very important role in our technological society
We proposed a Hybsync system that is based on UWB communication and multisensor fusion to achieve high-precision wireless clock synchronization and positioning
Experiments prove that the maximum clock synchronization error of Hybsync is 3 ns, and the positioning error is 7 cm
Summary
PNT systems play a very important role in our technological society. Especially in applications that require high precision, there is a lack of solutions to meet the needs of suitable applications [1, 2]. Other PNT solutions that do not rely on GNSS are mostly point-to-point solutions, such as longwave/shortwave timing systems These schemes can only achieve μs-level clock synchronization accuracy [9]. There are few mature solutions for multisource integration in the field of wireless multinode PNT Existing systems with both positioning and clock synchronization are mainly based on GNSS or GNSS-compatible pseudolite systems [14, 15]. Considering the needs of multinode cooperative working systems in complex and extreme environments, the existing solutions cannot simultaneously satisfy GNSS denied, high precision, multinodes, clock synchronization, and positioning [16]. Compared with existing mature technical solutions, this solution has lower cost and better synchronization accuracy and supports a larger number of nodes (2) An adaptive multinode network strategy is designed that can satisfy the Hybsync system for efficient positioning and synchronization.
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