Three-leader high-low distribution heterogeneous unmanned aerial vehicle formation three-dimensional cooperative positioning method based on data link ranging

Abstract

The invention provides a high-low distribution heterogeneous formation three-dimensional cooperative positioning method based on data link communication for a high-low distribution heterogeneous formation three-dimensional cooperative positioning technology which is not sufficient for research at present and is formed based on three-leader high-low distribution heterogeneous formation. The method comprises the following steps: firstly, constructing a data link communication relationship under a three-high-performance leader-low-performance low-cost unmanned aerial vehicle architecture, and on this basis, constructing a nonlinear equation set according to a relative distance between low-cost unmanned aerial vehicles measured by a data link and a relative distance between low-cost unmanned aerial vehicles; low-cost unmanned aerial vehicle initial position information which can be accurately acquired by a combat rear end is combined, and low-cost unmanned aerial vehicle position information is solved by utilizing an optimization method and is used for cooperative combat. The method is easy to apply, the position information of the low-cost unmanned aerial vehicle can be calculated on line according to the leader position information, the data link ranging information and the position information of the low-cost unmanned aerial vehicle at the initial moment, and the cooperative positioning result can be used in cooperation with a communication network and a cooperative guidance law.

Description

technical field [0001] The invention relates to a three-dimensional coordinated positioning method for a formation of heterogeneous unmanned aerial vehicles with high and low distribution of three leaders based on data link ranging. Background technique [0002] With the continuous advancement of system operations, the game of offense and defense is changing. Precision-guided unmanned aerial vehicles are one of the powerful means of attack for the blue side. Whether it can achieve deterrence against the enemy depends to a large extent on the reliability of the navigation and guidance system. However, with the continuous improvement of the red defense system and the optimization of the interception system, the difficulty of penetration has increased. In addition, the GPS denial or degraded environment at the front of the battlefield has greatly affected the normal operation of the navigation system. Overcoming the harsh front-end environment and locking onto a target with int...

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Problems solved by technology

[0004] At present, there are few reports on the theoretical research results of cooperative positioning of heterogeneous UAV formations based on data link ranging, and the theory of 3D cooperative positioning of heterogeneous formations including low-profile UAVs urgently needs a theoretical breakthrough.

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