A Novel Consensus-Based Distributed Time Synchronization Algorithm in High-Dynamic Multi-UAV Networks

Unmanned aerial vehicles (UAVs) have found extensive applications across diverse domains owing to their cost-effectiveness, uncomplicated structure, and adaptable takeoff and landing functionalities. Multi-UAV network systems can be coordinated to improve system performance significantly. Network time synchronization is a crucial prerequisite for establishing and operating multi-UAV networks, whereas the high-speed movement of UAVs presents challenges for time synchronization within multi-UAV networks. In this paper, we develop a practical information exchange model with high relative radial velocity and Gaussian distribution random transfer delay. By introducing Doppler information and a novel clock skew and clock offset consensus model, a Doppler and timestamp joint (DATJ) network time synchronization algorithm has been developed. Assessing the performance of the algorithms, we provide rigorous theoretical proof of network time synchronization convergence. Simulation results further validate the theoretical analysis and demonstrate that the proposed algorithm outperforms similar approaches in terms of synchronization performance.