Unmanned aerial vehicle swarm cooperative navigation method under dynamic mutual observation relation condition

A technology of collaborative navigation and relational conditions, applied in the field of positioning and navigation, it can solve the problems of difficult to effectively suppress inertial navigation errors and degradation of navigation performance.

Active Publication Date: 2018-06-12
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

Under the condition of satellite navigation signal interference or occlusion, the inertial navigation error is difficult to be effectively suppressed, resulting in a decline in navigation performance

Method used

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  • Unmanned aerial vehicle swarm cooperative navigation method under dynamic mutual observation relation condition
  • Unmanned aerial vehicle swarm cooperative navigation method under dynamic mutual observation relation condition
  • Unmanned aerial vehicle swarm cooperative navigation method under dynamic mutual observation relation condition

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Embodiment Construction

[0066] The technical solutions and beneficial effects of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0067] like figure 1 As shown, the present invention provides a method for cooperative navigation of unmanned aerial vehicle bee colonies under the condition of dynamic mutual observation relationship, comprising the following steps:

[0068] Step 1, initialization, numbering the drones in the drone colony according to 1~n;

[0069] Step 2: Select the UAV swarm navigation state quantity, establish the navigation state equation and the independent navigation measurement equation; for any UAV i, i∈{1,2,…,n}, the navigation state quantity expression The formula is:

[0070]

[0071] Among them, φ E ,φ N ,φ U Respectively represent the eastward platform error angle state quantity, northward platform error angle state quantity and skyward platform error angle state quantity in the error state quantity of UAV i airb...

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Abstract

The invention discloses an unmanned aerial vehicle swarm cooperative navigation method under a dynamic mutual observation relation condition, which comprises the following steps: Step 1, initialization is carried out, and unmanned aerial vehicles in an unmanned aerial vehicle swarm are numbered according to 1 to n; Step 2, unmanned aerial vehicle swarm navigation state amounts are chosen, and a navigation state equation and an independent navigation measurement equation are established; Step 3, a cooperative navigation measurement equation is established; Step 4, the unmanned aerial vehicles in the unmanned aerial vehicle swarm respectively carry out independent navigation solution; Step 5, the unmanned aerial vehicles in the unmanned aerial vehicle swarm respectively carry out cooperativenavigation solution; Step 6, whether navigation is complete or not is judged, if so, then navigation is stopped, or else return to step 4. The method can design a cooperative navigation method applicable to the dynamic change of line-of-sight vector measurement information on the basis that each unmanned aerial vehicle utilizes existing self measurement information to carry out independent navigation to further optimize navigation performance, effectively increasing the navigation precision of the unmanned aerial vehicles in the unmanned aerial vehicle swarm.

Description

technical field [0001] The invention belongs to the technical field of positioning and navigation, and in particular relates to a cooperative navigation method for drones and swarms under the condition of a dynamic mutual observation relationship. Background technique [0002] Navigation technology is one of the key technologies for UAVs to achieve reliable control and stable flight. Traditional drones mainly rely on their own integrated navigation system, and with the assistance of satellite navigation and other measurement information, continuous navigation is carried out by continuously correcting inertial navigation errors. Under the condition of satellite navigation signal interference or shading, the inertial navigation error is difficult to be effectively suppressed, resulting in a decline in navigation performance. [0003] A bee colony composed of multiple micro-UAVs can not only complete richer tasks, but also is expected to introduce line-of-sight vector measurem...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01S19/47G05D1/10
CPCG01C21/165G01C21/20G01S19/47G05D1/104
Inventor 王融熊智刘建业曹宇轩李传意孙瑶洁景羿铭
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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