256 / 2024-03-14 15:54:18

Unreliable Clock Synchronization Scheme of Coal Mine Robots Based on the Adaptive Correlation Filter

coal mine robots; Kalman filter; clock synchronization; correlation filter; unreliability

Clock synchronization plays a critical role in intelligent mines, as the basis of distributed robots providing technology services. The clock synchronization accuracy and performance are the key and difficulty due to the instability of the clock and the unreliability of wireless communication. Different from the previous clock synchronization algorithm, this paper proposes a clock synchronization scheme based on the correlation filter according to the correlation between clock input and output. In the distributed network of underground coal mine robots, the Kalman filter is utilized to preprocess data and pre-train a correlation filter. Then, the preprocessed data is used as input, and the correlation output is obtained from the correlation filter to improve the accuracy and performance of clock synchronization. We propose an abnormal timestamp detection method to ensure the stability of the clock synchronization algorithm based on the correlation filter, which solves the problem of abnormal timestamp data and gives the filter model update strategy. Besides, we extend the scheme to the distributed clock synchronization of multiple coal mine robots. Extensive simulations are carried out to evaluate the performance of the proposed scheme. The results indicate that the proposed algorithm has high scalability, robustness, and accuracy. The clock synchronization accuracy outperforms the existing solutions by more than 20%, which can quickly satisfy the clock accuracy requirements.