鉴于多自主式水下航行器（ autonomous underwater vehicle ，AUV）协同作业中时钟同步技术的重要性，设计了一种基于数字信号处理器（ digital signal processor ，DSP ）的精确时钟同步方案。首先分析了时钟同步过程中误差的来源，并提出了线性回归和卡尔曼滤波算法，对误差进行了有效补偿，确保AUV时钟与全球定位系统（global positioning system ，GPS）时钟精确同步。然后利用DSP、GPS模块以及恒温晶振完成了时钟同步控制的硬件实现，时钟校准实验表明，该控制算法大大提高了时钟同步过程中的授时精度和频率稳定度，满足多AUV协同作业在时钟同步方面的需求。%In view of the importance of clock synchronization technology in the collaboration missions of multiple AUVs( autonomous underwater vehicles ) , we designed a scheme of accurate clock synchronization based on DSP ( digital signal processor ) .This paper first analyzes the sources of the errors in the process of clock synchronization and proposed the linear regression and Kalman filter algorithms ,to ensure that the errors have been compensated for effectively and to ensure the accurate synchronization of the AUV clock with GPS clock .Then the clock synchroniza-tion controller has been designed and completed using DSP , GPS and the Oven-Controlled Crystal Oscillator ( OCXO) .Finally, the clock calibration experimental results and their analysis show preliminarily that the control al -gorithm greatly improved the timing accuracy and frequency stability and met the requirement in clock synchroniza -tion for multiple AUV collaboration .
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