本书从战场时空一致性的机理、科学问题出发，重点分析研究了时空误差演化的模型和方法、时间同步原理和方法、空间配准原理和方法；同时，基于离散特征空间和连续空间，讨论了基于相对熵的时空一致性模型；最后，给出了体系成熟度模型，以美军战场信息化建设为例，从时空一致性视角分析了代表美军信息化标志的PNT 体系、互操作作战图族、国防部改组法等，揭示了战场时空一致性优化控制体系的生长和发展规律。本书内容对理解信息化战争的特点具有一定参考价值，特别是对把控和寻找未来战争的制胜之道，提供了一孔之见。

信息化战争呈现出敏捷、及时、准确的侦察定位，快速反应和机动，中远程精确打击和陆、海、空、天、电（磁）五维一体联合作战等特点，突出表现为武器装备体系之间的对抗，强调诸军兵种在多维作战空间高度协调一致的行动、有力的相互支撑，最大限度地形成整体作战能力。新的作战概念，使传统的时空观念发生了革命性的变化。多军兵种联合作战要求武器装备体系中各作战单元全空域、全时域的协同，其基础是能够共享实时、精确、协调的战场信息，关键是战场感知、指挥控制、精确打击等环节应有一致的时空信息做保障，使指挥员的认知符合战场实际情况，以产生正确的决心和行动方案。因此，一致的时空信息是联合作战的基本保证，这就使时空信息感知、表征、理解等的一致性问题成为多军兵种联合作战迫切需要解决的瓶颈问题。 随着未来作战空间的延伸，网络与信息空间的扩展，联合作战对时空资源共享和时空信息一致性要求也在不断提高，使得传统的理论方法和技术体制短板突现，难以满足联合作战中各军兵种装备体系对时空一致性的需求。 本书是我们时空一致性研究团队十几年来理论、方法和实践工作的一个缩影，凝聚了团队所有研究人员的研讨、交流与思考，该领域很多概念和观点仍然在发展当中，不当之处在所难免。本书共由6 章组成。 第1 章 绪论。重点是概念和原理阐述，主要描述时空一致性的相关概念、时空一致性主要环节分析、时空一致性存在的难题和科学问题，给出了团队的总体研究思路。 第2 章 时空误差及其演化。在分析时空基准的实现原理及其误差特点基础上，根据信号层时间同步的过程，建立了信号层时间同步模型；重点针对两类典型动平台传感器——舰载机械稳定雷达和舰载电子稳定雷达时空误差的演化规律，进行深入研究，建立误差演化的量化分析模型和耦合度量模型。 第3 章 时间同步原理与方法。在分析研究NTP 和PTP 两种典型时间同步方法的基础上，提出参考广播时间同步方法和NTP 时间同步改进方法，强调用纯软件的方法来实现高精度时间同步的重要性；针对无线网络时间同步应用需求，分析描述了几种典型的无线网络时间同步方法，根据时间同步过程的不同，总结为两种时间同步模型，即无需报文交换的时间同步模型和基于报文交换的时间同步模型；在分析公共时间基准体系的基础上，提出上海战场时间同步体系总体架构，对其组成、功能、时间信息传递、状态监控等内容进行较详细的阐述。最后，展望了目前发展中的皮秒级时间同步和量子时间同步等超高精度时间同步技术。 第4 章 空间配准原理与方法。重点研究多传感器系统误差建模和线性化、系统误差影响灵敏度分析、多平台基于多传感器距离测量的空间配准、多平台舰载雷达探测等效系统误差的稳健估计等原理和方法，提出了多传感器系统误差估计的可观测性概念及分析方法，给出了对多传感器系统误差估计收敛性的判断准则以及空间配准性能评价指标。 第5 章 基于相对熵的时空一致性。本章用多维离散特征空间、多维连续空间概率分布的信息熵描述战场动态目标时空信息的不确定性，用相对熵分析多平台多传感器对动态目标探测的时空信息一致性。以基于相对熵的一致性函数为基础，提出时空一致性量化分析方法。以海上舰艇与多无人机协同目标探测、多平台协同探测几何构型优化为典型背景，从信息获取、信息传输、时空配准与信息融合等态势生成关键环节入手，展示了多平台、多传感器、网络环境下基于相对熵的时空一致性分析度量与优化方法的应用过程。 第6 章 战场时空一致性优化控制体系。本章讨论了体系的概念，提出了一种度量体系的体系动态生长的成熟度模型；重点剖析了美军战场时空一致性的体系，包括PNT 体系、互操作作战图族及对提升认知域一致性的《戈德华特?尼科尔斯国防部改组法》等，同时对时空一致性未来发展进行展望。 本书由江苏自动化研究所信息融合团队和国防科技大学研究人员合作撰写。其中，第1、第6 章由顾浩、何佳洲等撰写校对；第2、第4 章由潘江怀、罗志勇等撰写校对；第3 章由高峰端、郭得科、高兆强等撰写校对；第5章由吴文启撰写、何佳洲校对；全书由顾浩、何佳洲统稿。在本书的撰写过程中，不断得到江苏自动化研究所各位领导和技术人员的帮助和支持，同时也得到中电28 所赵宗贵老师，国防科技大学胡小平、罗雪山、陈洪辉等教授的指导和帮助。航天科工四院、空装院等单位多位领导和同志也为本书作出过重要贡献，电子工业出版社编辑同志为此付出了辛勤的劳动。对此一并表示感谢！ 此外，本书在编写过程中，参考和应用了许多国内外公开发表的文献，对文献作者的辛勤劳动表示衷心感谢！ 受作者水平所限，书中一定会存在很多不足和疏漏，请大家不吝指教。 作者 2020 年6

第1 章 绪 论·························································································································.1 1.1 概述····························································································································.1 1.2 基本概念·····················································································································2 1.2.1 时间······································································································································2 1.2.2 空间······································································································································2 1.2.3 战场时空一致性···················································································································3 1.3 战场时空一致性机理分析·························································································.4 1.3.1 信息获取·······························································································································4 1.3.2 信息传输·······························································································································9 1.3.3 时空配准·····························································································································14 1.3.4 信息融合·····························································································································19 1.3.5 态势估计·····························································································································24 1.3.6 态势显示与分发·················································································································27 1.4 战场时空一致性现状、难点与科学问题································································.29 1.4.1 实例解读·····························································································································30 1.4.2 现状和难点分析·················································································································31 1.4.3 科学问题·····························································································································32 1.4.4 主要研究思路·····················································································································35 1.5 本书章节安排···········································································································.36 参考文献····························································································································37 第2 章 时空误差及其演化····································································································.40 2.1 时空基准误差特点···································································································.40 2.1.1 时空基准·····························································································································40 2.1.2 时间基准误差特点分析······································································································45 2.1.3 空间基准误差特点分析······································································································47 2.2 时间同步误差分析···································································································.49 2.2.1 网络时间同步误差分析······································································································49 2.2.2 基于时频信号的时间同步过程分析··················································································54 2.3 动平台雷达探测时空误差演化···············································································.57 2.3.1 甲板形变及其影响·············································································································58 VIII 战场时空一致性原理与方法 2.3.2 机械稳定雷达时空基准误差演化模型··············································································59 2.3.3 电子稳定雷达时空基准误差演化模型··············································································97 2.4 小结·························································································································.114 参考文献··························································································································.115 第3 章 同步原理与方法·······································································································.116 3.1 引言·························································································································.116 3.1.1 时间同步内涵···················································································································116 3.1.2 常用时间同步方法···········································································································117 3.2 有线网络时间同步方法··························································································.119 3.2.1 NTP时间同步··················································································································119 3.2.2 PTP时间同步···················································································································128 3.3 无线网络时间同步方法···························································································137 3.3.1 典型无线网络时间同步方法····························································································139 3.3.2 无须报文交换的时间同步模型························································································141 3.3.3 基于报文交换的时间同步模型························································································148 3.4 公共时间基准体系分析···························································································151 3.4.1 公共时间基准结构···········································································································152 3.4.2 分层设计与区域时间同步策略························································································153 3.4.3 时间同步资源与典型战术平台应用················································································154 3.5 海战场时间同步体系设计·······················································································157 3.5.1 指标需求分析···················································································································157 3.5.2 总体架构设计···················································································································159 3.5.3 编队时间同步体系···········································································································161 3.6 时间同步技术的发展·······························································································167 3.6.1 纳秒级时间同步技术·······································································································167 3.6.2 皮秒级时间同步技术·······································································································168 3.6.3 量子时间同步技术···········································································································168 3.6.4 高精度原子钟技术···········································································································169 3.7 小结·························································································································.171 参考文献··························································································································.171 第4 章 配准原理与方法········································································································173 4.1 概述·························································································································.173 4.2 空间配准流程···········································································································174 4.2.1 基于合作目标配准···········································································································175 4.2.2 基于非合作目标配准·······································································································175 4.3 空间配准系统误差模型···························································································176 IX 目录 4.3.1 系统误差描述···················································································································177 4.3.2 空间配准系统误差测量方程····························································································179 4.4 空间配准系统误差估计算法···················································································185 4.4.1 动平台定位误差估计·······································································································185 4.4.2 基于合作目标传感器探测等效系统误差估计方法·························································191 4.4.3 基于非合作目标传感器探测等效系统误差估计方法·····················································194 4.4.4 多平台多无源传感器配准方法························································································199 4.4.5 基于多传感器距离测量的空间配准方法·········································································201 4.5 空间配准可观测性分析···························································································205 4.5.1 可观测性概念···················································································································205 4.5.2 低可观测度下的配准方法································································································208 4.5.3 仿真验证···························································································································210 4.6 空间配准性能评价···································································································212 4.6.1 系统误差估计收敛性分析································································································212 4.6.2 空间配准性能评价···········································································································213 4.7 小结·························································································································.214 参考文献··························································································································.214 第5 章 基于相对熵的时空一致性························································································216 5.1 概述·························································································································.216 5.2 相对熵原理··············································································································217 5.3 离散特征空间相对熵·······························································································218 5.3.1 一维离散特征空间目标属性的一致性············································································218 5.3.2 一维离散特征空间中基于相对熵最小的一致性信息融合准则······································220 5.3.3 多维离散特征空间中的信息熵与相对熵·········································································221 5.3.4 多维离散特征空间中基于相对熵最小的一致性信息融合准则······································223 5.3.5 多维离散空间一致性函数的归一化表示·········································································224 5.4 连续空间中的相对熵·······························································································224 5.4.1 二维平面中目标位置信息的一致性················································································224 5.4.2 二维平面中基于目标位置相对熵最小的一致性信息融合准则······································227 5.4.3 多维空间中目标信息的一致性························································································230 5.4.4 多维空间中基于目标位置时空信息相对熵最小的一致性信息融合准则·······················234 5.4.5 多维连续空间一致性函数的归一化表示·········································································235 5.5 典型环节基于相对熵的一致性分析········································································235 5.5.1 传感器探测信息的概率分布与相对熵············································································236 5.5.2 传输时间延迟的影响分析································································································240 5.5.3 时空配准后传感器探测信息的一致性分析·····································································244 5.5.4 多源时空信息融合中基于相对熵的多平台多传感器配置优化······································245 X 战场时空一致性原理与方法 5.6 小结·························································································································.254 参考文献··························································································································.255 第6 章 战场时空一致性优化控制体系················································································257 6.1 概述·························································································································.257 6.2 体系及其成熟度模型·······························································································258 6.2.1 体系··································································································································258 6.2.2 一体化······························································································································259 6.2.3 体系成熟度生长模型·······································································································259 6.3 美军战场时空一致性体系典型系统和措施分析····················································260 6.3.1 PNT体系··························································································································261 6.3.2 互操作作战图族···············································································································264 6.3.3 提升认知域一致性的基础································································································272 6.3.4 发展与启示·······················································································································274 6.4 战场时空一致性发展思考·······················································································275 6.4.1 控域空间一致性···············································································································275 6.4.2 未来发展···························································································································276 参考文献··························································································································.277 附录A 常用坐标系及其相互转换·························································································280 A.1 坐标························································································································.280 A.2 坐标转换·················································································································281 附录B 经典时空理论与狭义相对论·····················································································284 B.1 伽利略变换··············································································································284 B.2 洛伦兹变换与狭义相对论······················································································285